Notification device, exercise analysis system, notification method, notification program, exercise support method, and exercise support device

ABSTRACT

A notification device includes a difference calculation section adapted to calculate differences between index values of a plurality of indexes, which are calculated by analyzing an exercise of a user using an inertial sensor, and are related to an athletic ability of the user, and target values set to the respective indexes, an index selection section adapted to select some of the indexes based on the differences with respect to the respective indexes, and an output section adapted to output the some of the indexes selected.

BACKGROUND

1. Technical Field

The present invention relates to a notification device, an exerciseanalysis system, a notification method, a notification program, anexercise support method, and an exercise support device.

2. Related Art

In JP-A-2006-110046 (Document 1), there is described a running methodlearning device, which detects the acceleration in each of X, Y, and Zaxis directions and the angular velocity around the Z axis when running,calculates the translational acceleration and the angular velocity ineach of the axis directions of the runner from the measurement valuesthus detected, compares the calculated values with target valuesrecorded on a storage device, and then informs the runner of the factthat the measurement values exceed the target values at every step via awarning information device if the measurement values exceed the targetvalues. Further, the running method learning device is provided with asupport device for supporting the runner to determine the target valuesin advance, and performs the target value excess determinationexclusively with respect to the warning type selected by the runner.Specifically, the runner can select two types of warning in total byassigning one type of warning to a left ear of a stereo earphone, andassigning the other type of warning to a right ear of the stereoearphone. In this running method learning device, the warning is issuedwhen the target value has been exceeded at every step with respect tothe types of warning on which the target value excess determination hasbeen performed. Therefore, it is possible for the runner to makespecific and detailed corrections with respect only to the items to beimproved.

Further, in JP-A-2002-336376 (Document 2), there is described a healthenhancement system, which calculates an exercise pitch of the user usingan output of a sensor, and then generates a rhythm, which can beidentified by the user, based on the exercise pitch (e.g., the walkingpace (walking speed), the pace of swinging arms) thus calculated.According to this system, it is possible to easily and naturally guidethe user to a preferable exercise pitch.

Further, a portable electronic apparatus, which is used while attachedto the body or the arm of the user conducting an exercise such asrunning or marathon, is in widespread use. As such a portable electronicapparatus, there has been developed a device, which incorporates avariety of types of sensors such as an acceleration sensor and a gyrosensor, and is provided with a function of calculating a variety ofexercise data such as a position, a running speed, a heart rate, thenumber of steps, and a running pace using the detection values of thebuilt-in sensors (see, e.g., JP-A-2013-140158 (Document 3)).

However, in the running method learning device described in Document 1,since it is necessary for the runner to previously determine what therunner pays attention to while running, then select two types of warningto perform the warning assignment, it is not achievable to know thequalities of the matters the runner does not pay attention to. Further,since the warning inevitably issued in the case in which the targetvalues have been exceeded with respect to either of the two types ofwarning thus selected, the runner cannot understand which one is worse(which one must be improved in priority). Therefore, in the runningmethod learning device described in Document 1, in some cases, it is notachievable to know which one of the number of indexes related to theathletic abilities is relatively worse or better with respect to thetarget value, and thus, the runner fails to efficiently be improved inathletic abilities.

Further, in the system described in Document 2, although there isprovided a function of giving guidance about the walking pace (thewalking speed) and the pace of swinging the arms of the user, it is notachievable to provide a function of giving guidance about the timing oflanding and taking off of the feet at every step. Although the timingsof landing and taking off of the feet at every step, namely the time(grounding time) during which one of the feet is grounded, and the time(flying time) during which the both feet are separated from the groundare very important indexes for realizing efficient running, a devicewhich informs the user of the timings of the grounding time and theflying time to be the target during the exercise of the user has notcurrently been proposed.

Further, it has been known that in a variety of exercises includingrunning, if lactate accumulation occurs in a muscle due to thecontinuous exercise, the muscle weakens due to the lactic acid, whichleads to deterioration of the exercise performance. Therefore, if thelactate accumulation can be figured out during the exercise, it isconvenient. Whether or not the lactate accumulation has occurred can beknown by measuring the level of lactate (lactate concentration) in theblood. As the measurement method of the level of lactate in the blood, amethod of obtaining the blood or the breath and the performing themeasurement is used in general. However, these methods of the relatedart require to obtain the blood and the breath, and are thereforedifficult to perform during the exercise.

SUMMARY

An advantage of some aspects of the invention is to provide anotification device, an exercise analysis system, a notification method,and a notification program each capable of making a notification of someof indexes related to athletic abilities based on the respective targetvalues during the exercise of the user.

Another advantage of some aspects of the invention is to provide anotification device, an exercise analysis system, a notification method,and a notification program each capable of making a notification of thetiming of the grounding time and the flying time to be the target duringthe exercise of the user.

Still another advantage of some aspects of the invention is to providean exercise support method, and an exercise support device each capableof estimating the state of the lactate accumulation during the exercisewithout obtaining the blood or the breath.

The invention can be implemented as the following aspects or applicationexamples.

Application Example 1

A notification device according to this application example includes adifference calculation section adapted to calculate differences betweenindex values of a plurality of indexes, which are calculated byanalyzing an exercise of a user using an inertial sensor, and arerelated to an athletic ability of the user, and target values set to therespective indexes, an index selection section adapted to select some ofthe indexes based on the differences with respect to the respectiveindexes, and an output section adapted to output the some of the indexesselected.

The athletic abilities can be, for example, technical abilities orendurance capacities.

According to the notification device related to this applicationexample, by selecting some of the indexes based on the differencesbetween the values of the indexes related to the athletic abilities ofthe user and the respective target values and then outputting the someof the indexes, it is possible to make a notification of the someindexes out of the indexes based on the respective target values duringthe exercise of the user.

Application Example 2

In the notification device according to the application exampledescribed above, the index selection section may select the indexeslarger in the difference than other indexes as the some of the indexes.

According to the notification device related to this applicationexample, it is possible to make a notification of the indexes relativelyworse out of the indexes based on the respective target values duringthe exercise of the user. Therefore, it is possible for the user toperform the exercise while recognizing the worse indexes.

Application Example 3

In the notification device according to the application exampledescribed above, the index selection section may select the indexessmaller in the difference than other indexes as the some of the indexes.

According to the notification device related to this applicationexample, it is possible to make a notification of the indexes relativelybetter out of the indexes based on the respective target values duringthe exercise of the user. Therefore, it is possible for the user toperform the exercise while recognizing the better indexes.

Application Example 4

The notification device according to the application example describedabove may further include a normalization section adapted to normalizethe differences with respect to the respective indexes, and the indexselection section may select the some of the indexes based on thedifferences normalized with respect to the respective indexes.

According to the notification device related to this applicationexample, it is possible to select some of the indexes under fairconditions to make a notification during the exercise of the user.Therefore, it is possible to reduce the possibility that thenotification of specific indexes is apt to be made frequentlyirrespective of the exercise state of the user.

Application Example 5

In the notification device according to the application exampledescribed above, the index selection section may select a predeterminednumber of the indexes having the largest differences normalized.

According to the notification device related to this applicationexample, it is possible to select the predetermined number of indexeslarger in the differences from the respective target values under thefair conditions out of the indexes to make a notification during theexercise of the user. Therefore, it is possible for the user to performthe exercise while recognizing the worse indexes larger in thedifferences from the respective target values.

Application Example 6

In the notification device according to the application exampledescribed above, the index selection section may select none of theindexes in a case in which all of the differences normalized are smallerthan a threshold value.

According to the notification device related to this applicationexample, it is possible for the user to determine that the exercisestate is good if no notification of any indexes is made.

Application Example 7

In the notification device according to the application exampledescribed above, the index selection section may select a predeterminednumber of the indexes having the smallest differences normalized.

According to the notification device related to this applicationexample, it is possible to select the predetermined number of indexessmaller in the differences from the respective target values under thefair conditions out of the indexes to make a notification during theexercise of the user. Therefore, it is possible for the user to performthe exercise while recognizing the better indexes smaller in thedifferences from the respective target values.

Application Example 8

In the notification device according to the application exampledescribed above, the index selection section may select none of theindexes in a case in which all of the differences normalized are largerthan a threshold value.

According to the notification device related to this applicationexample, it is possible for the user to determine that the exercisestate is bad if no notification of any indexes is made.

Application Example 9

The notification device according to the application example describedabove may further include a target value setting section adapted to setthe target values corresponding to a speed of the user with respect tothe respective indexes using correspondence information between thespeed of the user and the respective target values of the indexes.

According to the notification device related to this applicationexample, it is possible to select some of the indexes to make anotification while changing the target values in accordance with theexercise speed of the user.

Application Example 10

In the notification device according to the application exampledescribed above, the indexes may be at least one of landing-below-centerof gravity, propulsive efficiency, flow of leg, a running pitch, and alanding impact.

Application Example 11

In the notification device according to the application exampledescribed above, the output section may output the some of the indexesselected as one of sounds different from each other and vibrationsdifferent from each other.

According to the notification device related to this applicationexample, it is possible for the user to recognize which index isincluded in the notification using the type of the sound or thevibration.

Application Example 12

An exercise analysis system according to this application exampleincludes any one of the notification devices described above, and anexercise analysis device adapted to analyze the exercise of the userusing the detection result of the inertial sensor to calculate the indexvalues of the indexes.

According to the exercise analysis system related to this applicationexample, by the exercise analysis device calculating the values of therespective indexes related to the athletic abilities of the user usingthe detection results of the inertial sensors, and the notificationdevice selecting some of the indexes based on the differences betweenthe values of the indexes and the respective target values, it ispossible to make a notification of the some indexes based on therespective target values during the exercise of the user.

Application Example 13

A notification method according to this application example includescalculate differences between values, which are calculated by analyzingan exercise of a user using a detection result of an inertial sensor,and respective target values with respect to a plurality of indexesrelated to an exercise performance of the user, selecting some of theindexes based on the differences with respect to the respective indexes,and making a notification of the some of the indexes selected.

According to the notification method related to this applicationexample, by selecting some of the indexes based on the differencesbetween the values of the indexes related to the athletic abilities ofthe user and the respective target values, it is possible to make anotification of the some indexes out of the indexes based on therespective target values during the exercise of the user.

Application Example 14

A notification program according to this application example makes acomputer execute a process including calculate differences betweenvalues, which are calculated by analyzing an exercise of a user using adetection result of an inertial sensor, and respective target valueswith respect to a plurality of indexes related to an exerciseperformance of the user, selecting some of the indexes based on thedifferences with respect to the respective indexes, and performing acontrol of making a notification of the some of the indexes selected.

According to the notification program related to this applicationexample, by selecting some of the indexes based on the differencesbetween the values of the indexes related to the athletic abilities ofthe user and the respective target values, it is possible to make anotification of the some indexes out of the indexes based on therespective target values during the exercise of the user.

Application Example 15

A notification device according to this application example includes anoutput section adapted to periodically make a notification of at leastone of a first period corresponding to a target value of a groundingtime of a foot of a user, and a second period corresponding to a targetvalue of a flying time of a foot of the user during an exercise of theuser.

According to the notification device related to this applicationexample, in the case of periodically making a notification of the firstperiod during the exercise of the user, a notification of the timing ofthe grounding time to be the target can be made. Further, according tothe notification device related to this application example, in the caseof periodically making a notification of the second period during theexercise of the user, a notification of the timing of the flying time tobe the target can be made. Further, according to the notification devicerelated to this application example, in the case of periodically makingnotifications of the first period and the second period during theexercise of the user, notifications of the timing of the grounding timeto be the target and the timing of the flying time to be the target canbe made.

Application Example 16

In the notification device according to the application exampledescribed above, the output section may make the notification using oneof a sound and a vibration.

According to the notification device related to this applicationexample, it is possible for the user to recognize the timing of thegrounding time to be the target or the timing of the flying time to bethe target without using the visual sense during the exercise.

Application Example 17

In the notification device according to the application exampledescribed above, the output section may make the notification of thefirst period using a first notification medium, and makes thenotification of the second period using a second notification mediumdifferent from the first notification medium.

For example, it is also possible that the first notification medium is afirst sound or a first vibration, and the second notification medium isa second sound different from the first sound, or a second vibrationdifferent from the first vibration.

According to the notification device related to this applicationexample, it is possible for the user to identify which one of the timingof the grounding time to be the target and the timing of the flying timeto be the target is included in the notification based on the differencein notification medium.

Application Example 18

The notification device according to the application example describedabove may further include a notification mode selection section capableof selecting one of a first mode of making the notification of the firstperiod without making the notification of the second period and a secondmode of making the notification of the second period without making thenotification of the first period.

According to the notification device related to this applicationexample, it is possible to select either one of the timing of thegrounding time to be the target and the timing of the flying time to bethe target to make a notification in accordance with the taste of theuser.

Application Example 19

In the notification device according to the application exampledescribed above, the notification mode selection section may be capableof selecting a third mode of making both of the notification of thefirst period and the notification of the second period.

According to the notification device related to this applicationexample, it is possible to select either one or both of the timing ofthe grounding time to be the target and the timing of the flying time tobe the target to make a notification in accordance with the taste of theuser.

Application Example 20

The notification device according to the application example describedabove may further include a target value setting section adapted to setthe target value of the grounding time and the target value of theflying time based on predetermined information in the exercise of theuser.

According to the notification device related to this applicationexample, it is possible to make a notification of the timing of thegrounding time to be the target and the flying time while changing thegrounding time and the flying time in accordance with the exercise stateof the user.

Application Example 21

In the notification device according to the application exampledescribed above, the predetermined information may be information of thegrounding time.

According to the notification device related to this applicationexample, it is possible to make a notification of the timing of thegrounding time to be the target and the flying time to be the targetwhile changing the grounding time and the flying time in accordance withthe grounding time in the exercise of the user.

Application Example 22

In the notification device according to the application exampledescribed above, the predetermined information may be information of arunning pitch.

According to the notification device related to this applicationexample, it is possible to make a notification of the timing of thegrounding time to be the target and the flying time to be the targetwhile changing the grounding time and the flying time in accordance withthe running pitch in the exercise of the user.

Application Example 23

In the notification device according to the application exampledescribed above, the predetermined information may be information of therunning speed.

According to the notification device related to this applicationexample, it is possible to make a notification of the timing of thegrounding time to be the target and the flying time to be the targetwhile changing the grounding time and the flying time in accordance withthe running speed in the exercise of the user.

Application Example 24

In the notification device according to the application exampledescribed above, the predetermined information may be informationcalculated using a detection result of an inertial sensor.

Since the inertial sensors can detect fine motions of the regions of theuser wearing the inertial sensors, it is possible to accuratelycalculate the information related to the exercise of the user using thedetection result of the inertial sensors. Therefore, according to thenotification device related to this application example, it is possibleto more accurately make a notification of the timing of the groundingtime to be the target or the timing of the flying time to be the target.

Application Example 25

An exercise analysis system according to this application exampleincludes any one of the notification devices described above, and anexercise analysis device adapted to calculate the predeterminedinformation using the detection result of the inertial sensor.

According to the exercise analysis system related to this applicationexample, it is possible for the notification device to make a moreaccurate notification of the timing of the grounding time to be thetarget and the timing of the flying time to be the target while changingthe timings in accordance with the information related to the exerciseof the user calculated with accuracy by the exercise analysis deviceusing the detection result of the inertial sensors.

Application Example 26

A notification method according to this application example includesperiodically making a notification of at least one of a first periodcorresponding to a target value of a grounding time of a foot of a user,and a second period corresponding to a target value of a flying time ofa foot of the user during an exercise of the user.

According to the notification method related to this applicationexample, in the case of periodically making a notification of the firstperiod during the exercise of the user, a notification of the timing ofthe grounding time to be the target can be made. Further, according tothe notification method related to this application example, in the caseof periodically making a notification of the second period during theexercise of the user, a notification of the timing of the flying time tobe the target can be made. Further, according to the notification methodrelated to this application example, in the case of periodically makingnotifications of the first period and the second period during theexercise of the user, notifications of the timing of the grounding timeto be the target and the timing of the flying time to be the target canbe made.

Application Example 27

A notification program according to this application example makes acomputer execute a process including periodically making a notificationof at least one of a first period corresponding to a target value of agrounding time of a foot of a user, and a second period corresponding toa target value of a flying time of a foot of the user during an exerciseof the user.

According to the notification program related to this applicationexample, in the case of performing the control for periodically making anotification of the first period during the exercise of the user, it ispossible to make the computer make a notification of the timing of thegrounding time to be the target. Further, according to the notificationprogram related to this application example, in the case of performingthe control for periodically making a notification of the second periodduring the exercise of the user, it is possible to make the computermake a notification of the timing of the flying time to be the target.Further, according to the notification program related to thisapplication example, in the case of performing the control forperiodically making notifications of the first period and the secondperiod during the exercise of the user, it is possible to make thecomputer make the notifications of the timing of the grounding time tobe the target and the timing of the flying time to be the target.

Application Example 28

An exercise support method according to this application exampleincludes making a notification of the fact that a form of running is inan unstable state in a case in which an amplitude value of a vibrationalong a vertical direction of a user in running has exceeded a thresholdvalue.

According to the exercise support method related to this applicationexample, it is possible to make a notification of the fact that the formof running is in the unstable state in the case in which an amplitudevalue of the vibration along a vertical direction of the user in runninghas exceeded the threshold value. The amplitude of the vibration in thevertical direction represents the wobble of the body of the user in thevertical direction. Therefore, in the case in which, for example, thevibration amplitude is high, it is possible to determine that the formin running is in the unstable state. Further, if the lactateaccumulation occurs in a certain region, the running form becomesunstable due to the muscle weakness in that region. Thus, since therunning form of the user has become in the unstable state, it ispossible to presumptively determine the fact that the lactateaccumulation occurs.

Application Example 29

The exercise support method according to the application exampledescribed above may further include estimating the form of the userusing the amplitude value of the vibration, and it is also possible thatthe notification includes a recommendation of a form different from theform estimated in the making a notification in the case of the unstablestate.

According to the exercise support method related to this applicationexample, it is possible to estimate the form of the user using theamplitude value of the vibration along the vertical direction of theuser in running, and then recommend a form different from the form thusestimated in the case in which the running form is in the unstablestate. In some cases, by changing the running form, the muscle part inwhich the lactate accumulation easily occurs can be changed. Therefore,by recommending to run in a different form in the case in which it hasbeen determined that the running form is in the unstable state, namelythe lactate accumulation has occurred, it becomes possible to remove orrelax the lactate accumulated in the muscle of a specific region.

Application Example 30

The exercise support method according to the application exampledescribed above may further include calculating duration of the formestimated in the making a notification, and it is also possible toarrange that the recommendation is made in the case in which theunstable state has been determined, and the duration fulfills apredetermined condition.

According to the exercise support method related to this applicationexample, it is possible to recommend a different form in the case inwhich it is determined that the running form is in the unstable state,and the duration of the form has fulfilled the predetermined condition.If running in the same form is continued, it becomes easy for thelactate accumulation to occur. Therefore, it is more effective torecommend a different form in the case of continuing running in the sameform.

Application Example 31

An exercise support device according to this application exampleincludes a determination section adapted to determine that a form ofrunning is in an unstable state in a case in which an amplitude value ofa vibration along a vertical direction of a user in running has exceededa threshold value, and makes a predetermined notification in the case inwhich the unstable state has been determined.

According to the exercise support device related to this applicationexample, it is possible to make a notification of the fact that the formof running is in the unstable state in the case in which an amplitudevalue of the vibration along a vertical direction of the user in runninghas exceeded the threshold value. The amplitude of the vibration in thevertical direction represents the wobble of the body of the user in thevertical direction. Therefore, in the case in which, for example, thevibration amplitude is high, it is possible to determine that the formin running is in the unstable state. Further, if the lactateaccumulation occurs in a certain region, the running form becomesunstable due to the muscle weakness in that region. Thus, since therunning form of the user has become in the unstable state, it ispossible to presumptively determine the fact that the lactateaccumulation occurs.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will now be described with reference to the accompanyingdrawings, wherein like numbers reference like elements.

FIG. 1 is a diagram showing a configuration example of an exerciseanalysis system according to an embodiment of the invention.

FIG. 2 is an explanatory diagram of a general outline of the exerciseanalysis system according to the embodiment.

FIG. 3 is a functional block diagram showing a configuration example ofan exercise analysis device.

FIG. 4 is a diagram showing a configuration example of a sensing datatable.

FIG. 5 is a diagram showing a configuration example of a GPS data table.

FIG. 6 is a diagram showing a configuration example of a geomagneticdata table.

FIG. 7 is a diagram showing a configuration example of a calculationdata table.

FIG. 8 is a functional block diagram showing a configuration example ofa processing section of the exercise analysis device.

FIG. 9 is a functional block diagram showing a configuration example ofan inertial navigation calculation section.

FIG. 10 is an explanatory diagram of an attitude of the user whenrunning.

FIG. 11 is an explanatory diagram of a yaw angle of the user whenrunning.

FIG. 12 is a diagram showing an example of triaxial acceleration of theuser when running.

FIG. 13 is a functional block diagram showing a configuration example ofan exercise analysis section.

FIG. 14 is a flowchart showing an example of a procedure of an exerciseanalysis process.

FIG. 15 is a flowchart showing an example of a procedure of an inertialnavigation calculation process.

FIG. 16 is a flowchart showing an example of a procedure of a runningdetection process.

FIG. 17 is a flowchart showing an example of a procedure of an exerciseanalysis information generation process.

FIG. 18 is a functional block diagram showing a configuration example ofa notification device.

FIG. 19 is a diagram showing a configuration example of a notificationcontrol table according to a first embodiment of the invention.

FIG. 20 is a diagram showing a configuration example of a speed-targetvalue table according to the first embodiment.

FIG. 21 is a functional block diagram showing a configuration example ofa processing section of the notification device according to the firstembodiment.

FIG. 22 is a diagram showing an example of information displayed on adisplay section of the notification device according to the firstembodiment.

FIG. 23 is a flowchart showing an example of a procedure of anotification process according to the first embodiment.

FIG. 24 is a diagram showing a configuration example of a notificationcontrol table according to a second embodiment of the invention.

FIG. 25 is a diagram showing a configuration example of a speed-targetvalue table according to the second embodiment.

FIG. 26 is a functional block diagram showing a configuration example ofa processing section of the notification device according to the secondembodiment.

FIGS. 27A through 27D are explanatory diagrams of a notification methodof target grounding time and target flying time.

FIGS. 28A and 28B are diagrams showing an example of informationdisplayed on a display section of the notification device according tothe second embodiment.

FIG. 29 is a flowchart showing an example of a procedure of anotification process according to the second embodiment.

FIG. 30 is a flowchart showing an example of a procedure of thenotification process of the target grounding time and the target flyingtime.

FIG. 31 is a flowchart showing another example of the procedure of thenotification process of the target grounding time and the target flyingtime.

FIG. 32 is a flowchart showing another example of the procedure of thenotification process of the target grounding time and the target flyingtime.

FIG. 33 is a flowchart showing another example of the procedure of thenotification process of the target grounding time and the target flyingtime.

FIG. 34 is a diagram showing a configuration example of a portableelectronic apparatus according to a third embodiment of the invention.

FIG. 35 is a functional configuration diagram of the portable electronicapparatus.

FIG. 36 is a diagram showing a data configuration example of a lactateaccumulation state setting table.

FIG. 37 is a diagram showing a data configuration example of runningform setting data.

FIG. 38 is a flowchart of an exercise support process.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

A notification device according to the present embodiment includes adifference calculation section for calculating a difference between anindex value, which has been calculated by analyzing the exercise of theuser using an inertial sensor, and a target value for each of indexesrelated to the athletic abilities of the user, an index selectionsection for selecting some of the indexes based on the differences withrespect to each of the indexes, and an output section for making anotification of the some indexes thus selected.

The athletic abilities can be, for example, technical abilities orendurance capacities.

According to the notification device related to the present embodiment,by selecting some of the indexes based on the differences between thevalues of the indexes related to the athletic abilities of the user andthe respective target values, it is possible to make a notification ofthe some indexes out of the indexes based on the respective targetvalues during the exercise of the user.

In the notification device according to the embodiment described above,it is possible for the index selection section to select the indexeslarger in the difference than the other indexes as the some indexes.

According to the notification device related to the present embodiment,it is possible to make a notification of the indexes relatively worseout of the indexes based on the respective target values during theexercise of the user. Therefore, it is possible for the user to performthe exercise while recognizing the worse indexes.

In the notification device according to the embodiment described above,it is possible for the index selection section to select the indexessmaller in the difference than the other indexes as the some indexes.

According to the notification device related to the present embodiment,it is possible to make a notification of the indexes relatively betterout of the indexes based on the respective target values during theexercise of the user. Therefore, it is possible for the user to performthe exercise while recognizing the better indexes.

It is also possible for the notification device according to theembodiment described above to include a normalization section fornormalizing the difference with respect to each of the indexes, andselect the some indexes based on the normalized differences with respectto the respective indexes.

According to the notification device related to the present embodiment,it is possible to select some of the indexes under fair conditions tomake a notification during the exercise of the user. Therefore, it ispossible to reduce the possibility that the notification of specificindexes is apt to be made frequently irrespective of the exercise stateof the user.

In the notification device according to the embodiment described above,it is possible for the index selection section to select a predeterminednumber of indexes having the largest normalized differences.

According to the notification device related to the present embodiment,it is possible to select the predetermined number of indexes larger inthe differences from the respective target values under the fairconditions out of the indexes to make a notification during the exerciseof the user. Therefore, it is possible for the user to perform theexercise while recognizing the worse indexes larger in the differencesfrom the respective target values.

In the notification device according to the embodiment described above,it is possible for the index selection section to select no indexes inthe case in which all of the differences thus normalized are smallerthan a threshold value.

According to the notification device related to the present embodiment,it is possible for the user to determine that the exercise state is goodif no notification of any indexes is made.

In the notification device according to the embodiment described above,it is possible for the index selection section to select a predeterminednumber of indexes having the smallest normalized differences.

According to the notification device related to the present embodiment,it is possible to select the predetermined number of indexes smaller inthe differences from the respective target values under the fairconditions out of the indexes to make a notification during the exerciseof the user. Therefore, it is possible for the user to perform theexercise while recognizing the better indexes smaller in the differencesfrom the respective target values.

In the notification device according to the embodiment described above,it is possible for the index selection section to select no indexes inthe case in which all of the differences thus normalized are larger thana threshold value.

According to the notification device related to the present embodiment,it is possible for the user to determine that the exercise state is badif no notification of any indexes is made.

It is possible for the notification device according to the embodimentdescribed above to include a target value setting section for settingthe target value corresponding to the velocity of the user with respectto each of the indexes using correspondence information between thevelocity of the user and the respective target values of the indexes.

According to the notification device related to the present embodiment,it is possible to select some of the indexes to make a notificationwhile changing the target values in accordance with the exercisevelocity of the user.

In the notification device according to the embodiment described above,the indexes can include at least one of landing-below-COG (center ofgravity), propulsive efficiency, flow of leg, a running pitch, and alanding impact.

In the notification device according to the embodiment described above,it is possible for the output section to make the notifications of thesome indexes thus selected as respective sounds or vibrations differentfrom each other.

According to the notification device related to the present embodiment,it is possible for the user to recognize which index is included in thenotification using the type of the sound or the vibration.

An exercise analysis system according to the present embodiment includesany one of the notification devices described above, and an exerciseanalysis device for analyzing the exercise of the user using thedetection result of the inertial sensors to calculate the values of therespective indexes.

According to the exercise analysis system related to the presentembodiment, by the exercise analysis device calculating the values ofthe respective indexes related to the athletic abilities of the userusing the detection result of the inertial sensors, and the notificationdevice selecting some of the indexes based on the differences betweenthe values of the indexes and the respective target values, it ispossible to make a notification of the some indexes based on therespective target values during the exercise of the user.

A notification method according to the present embodiment includes astep of calculating a difference between a value, which has beencalculated by analyzing the exercise of the user using the detectionresult of the inertial sensor, and the target value for each of theindexes related to the athletic abilities of the user, a step ofselecting some of the indexes based on the differences with respect tothe respective indexes, and a step of making a notification of the someindexes thus selected.

According to the notification method related to the present embodiment,by selecting some of the indexes based on the differences between thevalues of the indexes related to the athletic abilities of the user andthe respective target values, it is possible to make a notification ofthe some indexes out of the indexes based on the respective targetvalues during the exercise of the user.

A program according to the present embodiment makes a computer execute astep of calculating a difference between a value, which has beencalculated by analyzing the exercise of the user using the detectionresult of the inertial sensor, and the target value for each of theindexes related to the athletic abilities of the user, a step ofselecting some of the indexes based on the differences with respect tothe respective indexes, and a step of performing control for making anotification of the some indexes thus selected.

According to the program related to the present embodiment, by selectingsome of the indexes based on the differences between the values of theindexes related to the athletic abilities of the user and the respectivetarget values, it is possible to make a notification of the some indexesout of the indexes based on the respective target values during theexercise of the user.

A notification device according to the present embodiment includes anoutput section for periodically making a notification of at least one ofa first period corresponding to a target value of the grounding time inlanding the foot of the user and a second period corresponding to atarget value of the flying time during the exercise of the user.

According to the notification device related to the present embodiment,in the case of periodically making a notification of the first periodduring the exercise of the user, a notification of the timing of thegrounding time to be the target can be made. Further, according to thenotification device related to the present embodiment, in the case ofperiodically making a notification of the second period during theexercise of the user, a notification of the timing of the flying time tobe the target can be made. Further, according to the notification devicerelated to the present embodiment, in the case of periodically makingnotifications of the first period and the second period during theexercise of the user, notifications of the timing of the grounding timeto be the target and the timing of the flying time to be the target canbe made.

In the notification device according to the embodiment described above,it is possible for the output section to make at least one of thenotifications of the first period and the second period as a sound or avibration.

According to the notification device related to the present embodiment,it is possible for the user to recognize the timing of the groundingtime to be the target or the timing of the flying time to be the targetwithout using the visual sense during the exercise.

In the notification device according to the embodiment described above,it is also possible for the output section to make a notification of thefirst period using a first sound or a first vibration, and make anotification of the second period using a second sound different fromthe first sound or a second vibration different from the firstvibration.

According to the notification device related to the present embodiment,it is possible for the user to identify which one of the timing of thegrounding time to be the target and the timing of the flying time to bethe target is included in the notification based on the type of thesound or the vibration.

It is also possible for the notification device according to theembodiment described above to include a notification mode selectionsection capable of selecting one of a first mode of making thenotification of the first period without making the notification of thesecond period and a second mode of making the notification of the secondperiod without making the notification of the first period.

According to the notification device related to the present embodiment,it is possible to select either one of the timing of the grounding timeto be the target and the timing of the flying time to be the target tomake a notification in accordance with the taste of the user.

In the notification device according to the embodiment described above,it is possible for the notification mode selection section to be able tofurther select a third mode of making a notification of both of thefirst and second periods.

According to the notification device related to the present embodiment,it is possible to select either one or both of the timing of thegrounding time to be the target and the timing of the flying time to bethe target to make a notification in accordance with the taste of theuser.

It is also possible for the notification device according to theembodiment described above to include a target value setting section forsetting the target value of the grounding time and the target value ofthe flying time based on predetermined information in the exercise ofthe user.

According to the notification device related to the present embodiment,it is possible to make a notification of the timing of the groundingtime to be the target and the flying time to be the target whilechanging the grounding time and the flying time in accordance with theexercise state of the user.

In the notification device according to the embodiment described above,the predetermined information can be the information of the groundingtime.

According to the notification device related to the present embodiment,it is possible to make a notification of the timing of the groundingtime to be the target and the flying time to be the target whilechanging the grounding time and the flying time in accordance with thegrounding time in the exercise of the user.

In the notification device according to the embodiment described above,the predetermined information can be the information of the runningpitch.

According to the notification device related to the present embodiment,it is possible to make a notification of the timing of the groundingtime to be the target and the flying time to be the target whilechanging the grounding time and the flying time in accordance with therunning pitch in the exercise of the user.

In the notification device according to the embodiment described above,the predetermined information can be the information of the runningspeed.

According to the notification device related to the present embodiment,it is possible to make a notification of the timing of the groundingtime to be the target and the flying time to be the target whilechanging the grounding time and the flying time in accordance with therunning speed in the exercise of the user.

In the notification device according to the embodiment described above,the predetermined information can be the information calculated usingthe detection result of the inertial sensors.

Since the inertial sensors can detect fine motions of the regions of theuser wearing the inertial sensors, it is possible to accuratelycalculate the information related to the exercise of the user using thedetection result of the inertial sensors. Therefore, according to thenotification device related to the present embodiment, it is possible tomore accurately make a notification of the timing of the grounding timeto be the target or the timing of the flying time to be the target.

An exercise analysis system according to the present embodiment includesany one of the notification devices described above, and an exerciseanalysis device for calculating the predetermined information describedabove using the detection result of the inertial sensors.

According to the exercise analysis system related to the presentembodiment, it is possible for the notification device to make a moreaccurate notification of the timing of the grounding time to be thetarget and the timing of the flying time to be the target while changingthe timings in accordance with the information related to the exerciseof the user calculated with accuracy by the exercise analysis deviceusing the detection result of the inertial sensors.

A notification method according to the present embodiment includes astep of periodically making the notification of at least one of thefirst period corresponding to the target value of the grounding time inlanding the foot of the user and the second period corresponding to thetarget value of the flying time during the exercise of the user.

According to the notification method related to the present embodiment,in the case of periodically making a notification of the first periodduring the exercise of the user, a notification of the timing of thegrounding time to be the target can be made. Further, according to thenotification method related to the present embodiment, in the case ofperiodically making a notification of the second period during theexercise of the user, a notification of the timing of the flying time tobe the target can be made. Further, according to the notification methodrelated to the present embodiment, in the case of periodically makingnotifications of the first period and the second period during theexercise of the user, notifications of the timing of the grounding timeto be the target and the timing of the flying time to be the target canbe made.

A program according to the present embodiment makes a computer execute astep of performing control for periodically making a notification of atleast one of the first period corresponding to the target value of thegrounding time and the second period corresponding to the target valueof the flying time during the exercise of the user.

According to the program related to the present embodiment, in the caseof performing the control for periodically making a notification of thefirst period during the exercise of the user, it is possible to make thecomputer make a notification of the timing of the grounding time to bethe target. Further, according to the program related to the presentembodiment, in the case of performing the control for periodicallymaking a notification of the second period during the exercise of theuser, it is possible to make the computer make a notification of thetiming of the flying time to be the target. Further, according to theprogram related to the present embodiment, in the case of performing thecontrol for periodically making notifications of the first period andthe second period during the exercise of the user, it is possible tomake the computer make the notifications of the timing of the groundingtime to be the target and the timing of the flying time to be thetarget.

An exercise support method according to the present embodiment includesa step of performing notification control of the fact that the runningform is in an unstable state in the case in which the detection value ofa body motion detecting sensor section attached to the body portion ofthe user has exceeded a threshold value.

Further, as another embodiment, it is possible to configure an exercisesupport device provided with a determination section for determiningthat the running form is in the unstable state in the case in which thedetection value has exceeded the threshold value using the detectionvalue of the body motion detecting sensor section attached to the bodyportion of the user, and a notification control section for performing apredetermined notification control in the case in which thedetermination of the unstable state has been made.

According to the exercise support method and so on related to thepresent embodiment, it is possible to make a notification of the factthat the running form is in the unstable state in the case in which thedetection value of the body motion detecting sensor section attached tothe body portion of the user has exceeded the threshold value. If thelactate accumulation occurs in a certain region, the running formbecomes unstable due to the muscle weakness in that region. Thus, sincethe running form of the user has become in the unstable state, thelactate accumulation is presumptively determined.

It is also possible for the exercise support method according to theembodiment described above to further include a step of calculating anamplitude of the vibration in the vertical direction of the user usingthe detection value described above, and a step of performing thenotification control based on the vibration amplitude.

According to the exercise support method related to the presentembodiment, it is possible to calculate the amplitude of the vibrationin the vertical direction of the user using the detection value of thebody motion detecting sensor, and then make a notification of the factthat the running form is in the unstable state based on the vibrationamplitude thus calculated. The amplitude of the vibration in thevertical direction represents the wobble of the body of the user in thevertical direction. Therefore, in the case in which, for example, thevibration amplitude is high, it is possible to determine that the formwhen running is in the unstable state.

The exercise support method according to the embodiment described abovefurther includes a step of estimating the form of the user using thedetection value, and it is also possible for the notification control toinclude a step of recommending a form different from the form thusestimated in the case of the unstable state.

According to the exercise support method related to the presentembodiment, it is possible to estimate the form of the user using thedetection value of the body motion detecting sensor, and then recommenda form different from the form thus estimated in the case in which therunning form is in the unstable state. In some cases, by changing therunning form, the muscle part in which the lactate accumulation easilyoccurs can be changed. Therefore, by recommending to run in a differentform in the case in which it has been determined that the running formis in the unstable state, namely the lactate accumulation has occurred,it becomes possible to remove or relax the lactate accumulated in themuscle of a specific region.

It is also possible that the exercise support method according to theembodiment described above further includes a step of calculating aduration in which the form thus estimated is the same, and in therecommending step, the recommendation is performed in the case in whichit is determined that the unstable state has occurred and the durationhas fulfilled a predetermined condition.

According to the exercise support method related to the presentembodiment, it is possible to recommend a different form in the case inwhich it is determined that the running form is in the unstable state,and the duration in which the form is the same has fulfilled thepredetermined condition. If running in the same form is continued, itbecomes easy for the lactate accumulation to occur. Therefore, it ismore effective to recommend a different form in the case of continuingrunning in the same form.

Hereinafter, some preferred embodiments of the invention will bedescribed in detail using the accompanying drawings. It should be notedthat the embodiments described below do not unreasonably limit thecontent of the invention as set forth in the appended claims. Further,all of the constituents described below are not necessarily essentialelements of the invention.

1. First Embodiment 1-1. Configuration of Exercise Analysis System

Although the explanation will hereinafter be presented citing anexercise analysis system for analyzing the exercise in running(including walking) of the user as an example, the exercise analysissystem according to the first embodiment can also be applied to anexercise analysis system for analyzing an exercise other than running ina similar manner.

FIG. 1 is a diagram showing a configuration example of the exerciseanalysis system 1 according to the first embodiment. As shown in FIG. 1,the exercise analysis system 1 according to the first embodiment isconfigured including an exercise analysis device 2 and a notificationdevice 3. The exercise analysis device 2 is a device for analyzing theexercise during running of the user, and the notification device 3 is adevice for notifying the user of information of a state of the exerciseduring running of the user and a running result. As shown in FIG. 2, inthe present embodiment, the exercise analysis device 2 incorporates aninertial measurement unit (IMU) 10, and is attached to the body portion(e.g., right waist, left waist, or central portion of the waist) of theuser so that one of the detection axes (hereinafter referred to as a zaxis) of the inertial measurement unit (IMU) 10 roughly coincides with agravitational acceleration direction (vertically downward direction) inthe state in which the user is in the rest state. Further, thenotification device 3 is a wrist-type (wristwatch-type) portableinformation apparatus, and is attached to the wrist or the like of theuser. It should be noted that the notification device 3 can also be aportable information apparatus such as a head mount display (HMD) or asmartphone.

The user operates the notification device 3 when starting running toinstruct start of the measurement (an inertial navigation calculationprocess and an exercise analysis process described later) by theexercise analysis device 2, and then operates the notification device 3when stopping running to instruct stop of the measurement by theexercise analysis device 2. The notification device 3 transmits acommand for instructing start or stop of the measurement to the exerciseanalysis device 2 in accordance with the operation by the user.

When the exercise analysis device 2 receives the command of starting themeasurement, the exercise analysis device 2 starts the measurement bythe inertial measurement unit (IMU) 10, calculates values of a varietyof exercise indexes, which are indexes related to a running ability (anexample of athletic abilities) of the user using the measurement result,and generates exercise analysis information including the values of thevariety of exercise indexes as the information of the analysis result ofthe running exercise of the user. The exercise analysis device 2generates information (in-running output information) output duringrunning of the user using the exercise analysis information thusgenerated, and then transmits the in-running output information to thenotification device 3. The notification device 3 receives the in-runningoutput information from the exercise analysis device 2, then calculatesthe differences between the values of the variety of exercise indexesincluded in the in-running output information and the respective targetvalues set in advance, then selects some exercise indexes out of thevariety of exercise indexes based on the differences with respect to therespective exercise indexes, and then notifies the user of the exerciseindexes thus selected with sounds or vibrations. Thus, it is possiblefor the user to run while recognizing which exercise indexes are worse(or better).

Further, when the exercise analysis device 2 receives the command ofstopping the measurement, the exercise analysis device 2 stops themeasurement by the inertial measurement unit (IMU) 10, then generatesthe information (running result information: a running distance, runningspeed) of the running result of the user, and then transmits the runningresult information to the notification device 3. The notification device3 receives the running result information from the exercise analysisdevice 2, and then notifies the user of the information of the runningresult as characters or images. Thus, it is possible for the user torecognize the information of the running result immediately afterstopping running. Alternatively, it is also possible for thenotification device 3 to generate the running result information basedon the in-running output information, and then notify the user as thecharacters or the images.

It should be noted that data communication between the exercise analysisdevice 2 and the notification device 3 can be wireless communication orwired communication.

1-2. Coordinate Systems

The coordinate systems necessary in the explanation described below willbe defined as follows.

e-frame (Earth Centered Earth Fixed frame): a right-handedthree-dimensional Cartesian coordinate system taking the center of theEarth as the origin, and having the z axis parallel to the rotationalaxis.

n-frame (Navigation frame): a three-dimensional Cartesian coordinatesystem taking a moving object (the user) as the origin, and having an xaxis set to the north, a y axis set to the east, and a z axis set to thegravitational direction.

b-frame (Body frame): a three-dimensional Cartesian coordinate systembased on the sensor (the inertial measurement unit (IMU) 10).

m-frame (Moving frame): a right-handed three-dimensional Cartesiancoordinate system taking a moving object (the user) as the origin, andhaving an x axis set to the proceeding direction of the moving object(the user).

1-3. Exercise Analysis Device 1-3-1. Configuration of Exercise AnalysisDevice

FIG. 3 is a functional block diagram showing a configuration example ofthe exercise analysis device 2. As shown in FIG. 3, the exerciseanalysis device 2 is configured including the inertial measurement unit(IMU) 10, a processing section 20, a storage section 30, a communicationsection 40, a GPS (global positioning system) unit 50, and a geomagneticsensor 60. It should be noted that it is also possible for the exerciseanalysis device 2 according to the present embodiment to have aconfiguration obtained by eliminating or modifying some of theseconstituents, or adding other constituents.

The inertial measurement unit 10 (an example of the inertial sensor) isconfigured including an acceleration sensor 12, an angular velocitysensor 14, and a signal processing section 16.

The acceleration sensor 12 detects the acceleration in each of the threeaxial directions intersecting with (ideally perpendicular to) eachother, and then outputs a digital signal (acceleration data)corresponding to the levels and the directions of the triaxialacceleration thus detected.

The angular velocity sensor 14 detects the angular velocity in each ofthe three axial directions intersecting with (ideally perpendicular to)each other, and then outputs a digital signal (angular velocity data)corresponding to the levels and the directions of the triaxial angularvelocity thus measured.

The signal processing section 16 receives the acceleration data and theangular velocity data respectively from the acceleration sensor 12 andthe angular velocity sensor 14, then stores them attached with timeinformation in a storage section not shown, then generates sensing dataobtained by fitting the acceleration data, the angular velocity data,and the time information thus stored into a predetermined format, andthen outputs the sensing data to the processing section 20.

It is ideal for each of the acceleration sensor 12 and the angularvelocity sensor 14 to be attached so that the three axes coincide withthe three axes of the sensor coordinate system (the b-frame) based onthe inertial measurement unit 10, but in reality, there occurs an errorin attachment angle. Therefore, the signal processing section 16performs a process of converting each of the acceleration data and theangular velocity data into data in the sensor coordinate system (theb-frame) using a correction parameter previously calculated inaccordance with the attachment angle error. It should be noted that itis also possible for the processing section 20 described later toperform the conversion process for the signal processing section 16.

Further, it is also possible for the signal processing section 16 toperform a temperature correction process of the acceleration sensor 12and the angular velocity sensor 14. It should be noted that it is alsopossible for the processing section 20 described later to perform thetemperature correction process for the signal processing section 16, orit is also possible to incorporate the function of the temperaturecorrection in the acceleration sensor 12 and the angular velocity sensor14.

The acceleration sensor 12 and the angular velocity sensor 14 can alsobe devices outputting analog signals, and in this case, it is sufficientfor the signal processing section 16 to perform A/D conversion on eachof the output signal of the acceleration sensor 12 and the output signalof the angular velocity sensor 14 to generate the sensing data.

The GPS unit 50 receives GPS satellite signals transmitted from GPSsatellites as a kind of positioning satellites, then performspositioning calculation using the GPS satellite signals to calculate theposition and the velocity (a vector including the size and thedirection) of the user in the n-frame, and then outputs the GPS data,which is obtained by adding the time information and positioningaccuracy information to the position and the velocity, to the processingsection 20. It should be noted that since a method of calculating theposition and the velocity, and a method of generating the timeinformation using the GPS are known to the public, the detailedexplanation will be omitted.

The geomagnetic sensor 60 detects the geomagnetism in each of the threeaxial directions intersecting with (ideally perpendicular to) eachother, and then outputs a digital signal (geomagnetic data)corresponding to the levels and the directions of the triaxialgeomagnetism thus detected. It should be noted that the geomagneticsensor 60 can also be a sensor outputting an analog signal, and in thiscase, it is also possible for the processing section 20 to perform theA/D conversion on the output signal of the geomagnetic sensor 60 togenerate the geomagnetic data.

The communication section 40 is for performing data communication withthe communication section 140 (see FIG. 18) of the notification device3, and performs a process of receiving the command (e.g., the command ofstarting/stopping the measurement) having been transmitted from thecommunication section 140 of the notification device 3 and thentransmitting the command to the processing section 20, a process ofreceiving the in-running output information and the running resultinformation having been generated by the processing section 20 and thentransmitting the in-running output information and the running resultinformation to the communication section 140 of the notification device3, and so on.

The processing section 20 is formed of, for example, a centralprocessing unit (CPU), a digital signal processor (DSP), and anapplication specific integrated circuit (ASIC), and performs a varietyof arithmetic processing and control processing in accordance with avariety of programs stored in the storage section 30 (a recordingmedium). In particular, when the processing section 20 receives thecommand of starting the measurement from the notification device 3 viathe communication section 40, the processing section 20 receives thesensing data, the GPS data, and the geomagnetic data respectively fromthe inertial measurement unit 10, the GPS unit 50, and the geomagneticsensor 60, and then calculates the velocity, the position, attitudeangles of the body, and so on of the user using the data until theprocessing section 20 receives the command of stopping the measurement.Further, the processing section 20 performs a variety of arithmeticprocessing using the information thus calculated to analyze the exerciseof the user to thereby generate a variety of types of exercise analysisinformation described later, and makes the storage section 30 store thevariety of types of exercise analysis information. Further, theprocessing section 20 performs a process of generating the in-runningoutput information and the running result information using the exerciseanalysis information thus generated, and then transmitting thein-running output information and the running result information to thecommunication section 40.

The storage section 30 is formed of, for example, a recording medium forstoring the programs and the data such as a read only memory (ROM), aflash ROM, a hard disk drive, or a memory card, and a random accessmemory (RAM) forming a work area of the processing section 20. Thestorage section 30 (either of the recording media) stores an exerciseanalysis program 300, which is read out by the processing section 20,and is used for executing the exercise analysis process (see FIG. 14).The exercise analysis program 300 includes an inertial navigationcalculation program 302 for executing an inertial navigation calculationprocess (see FIG. 15), and an exercise analysis information generationprogram 304 for executing an exercise analysis information generationprocess (see FIG. 17) as subroutines.

Further, the storage section 30 stores a sensing data table 310, a GPSdata table 320, a geomagnetic data table 330, a calculation data table340, exercise analysis information 350, and so on.

The sensing data table 310 is a data table storing the sensing data (thedetection result of the inertial measurement unit 10), which have beenreceived by the processing section 20 from the inertial measurement unit10, in a time-series manner. FIG. 4 is a diagram showing a configurationexample of the sensing data table 310. As shown in FIG. 4, the sensingdata table 310 is formed of the sensing data, each of which includesdetection time 311 of the inertial measurement unit 10, the acceleration312 detected by the acceleration sensor 12, and the angular velocity 313detected by the angular velocity sensor 14 associated with each other,arranged in a time-series manner. When starting the measurement, theprocessing section 20 adds new sensing data to the sensing data table310 every time a sampling period Δt (e.g., 20 ms or 10 ms) elapses.Further, the processing section 20 corrects the acceleration and theangular velocity using an acceleration bias and an angular velocity biasestimated by error estimation (described later) using an extended Kalmanfilter, and then overwrites the acceleration and the angular velocitywith corrected ones to update the sensing data table 310.

The GPS data table 320 is a data table storing the GPS data (thedetection result of the GPS unit (GPS sensor) 50), which have beenreceived by the processing section 20 from the GPS unit 50, in atime-series manner. FIG. 5 is a diagram showing a configuration exampleof the GPS data table 320. As shown in FIG. 5, the GPS data table 320 isformed of the GPS data, each of which has time 321 when the GPS unit 50performs the positioning calculation, a position 322 calculated by thepositioning calculation, a velocity 323 calculated by the positioningcalculation, the positioning accuracy (dilution of precision (DOP)) 324,the signal intensity 325 of the GPS satellite signal thus received, andso on associated with each other, arranged in a time-series manner. Whenstarting the measurement, the processing section 20 adds new GPS data tothereby update the GPS data table 320 every time the GPS data isobtained (e.g., every second asynchronously with the acquisition timingof the sensing data).

The geomagnetic data table 330 is a data table storing the geomagneticdata (the detection result of the geomagnetic sensor), which have beenreceived by the processing section 20 from the geomagnetic sensor 60, ina time-series manner. FIG. 6 is a diagram showing a configurationexample of the geomagnetic data table 330. As shown in FIG. 6, thegeomagnetic data table 330 is formed of the geomagnetic data, each ofwhich has the detection time 331 of the geomagnetic sensor 60 and thegeomagnetism 332 detected by the geomagnetic sensor 60 associated witheach other, arranged in a time-series manner. When starting themeasurement, the processing section 20 adds new geomagnetic data to thegeomagnetic data table 330 every time a sampling period Δt (e.g., 10 ms)elapses.

The calculation data table 340 is a data table storing the velocity, theposition, and the attitude angles, which are calculated by theprocessing section 20 using the sensing data, in a time-series manner.FIG. 7 is a diagram showing a configuration example of the calculationdata table 340. As shown in FIG. 7, the calculation data table 340 isformed of the calculation data, each of which has the time 341, thevelocity 342, and position 343, and attitude angles 344 calculated bythe processing section 20 associated with each other, arranged in atime-series manner. When starting the measurement, the processingsection 20 calculates the velocity, the position, and the attitudeangles to add new calculation data to the calculation data table 340every time the sensing data is newly obtained, namely every time thesampling period Δt elapses. Further, the processing section 20 correctsthe velocity, the position, and the attitude angles using the velocityerror, the position error, and the attitude angle error estimated by theerror estimation using the extended Kalman filter, and then overwritesthe velocity, the position, and the attitude angles with corrected onesto update the calculation data table 340.

The exercise analysis information 350 is a variety of types ofinformation related to the exercise of the user, and includes items ofinput information 351, items of basic information 352, items of firstanalysis information 353, items of second analysis information 354,items of a bilateral difference ratio 355, and so on generated by theprocessing section 20. The details of these types of information will bedescribed later.

1-3-2. Functional Configuration of Processing Section

FIG. 8 is a functional block diagram showing a configuration example ofthe processing section 20 of the exercise analysis device 2. In thepresent embodiment, the processing section 20 executes the exerciseanalysis program 300 stored in the storage section 30 to therebyfunction as an inertial navigation calculation section 22 and anexercise analysis section 24. It should be noted that it is alsopossible for the processing section 20 to receive the exercise analysisprogram 300 stored in an arbitrary storage device (recording medium) viaa network or the like, and then execute the exercise analysis program300.

The inertial navigation calculation section 22 performs the inertialnavigation calculation using the sensing data (the detection result ofthe inertial measurement unit 10), the GPS data (the detection result ofthe GPS unit 50), and the geomagnetic data (the detection result of thegeomagnetic sensor 60) to calculate the acceleration, the angularvelocity, the velocity, the position, the attitude angles, the distance,the stride, and the running pitch, and then outputs calculation dataincluding these calculation results. The calculation data output by theinertial navigation calculation section 22 are stored in the storagesection 30 in a time-series order. The details of the inertialnavigation calculation section 22 will be described later.

The exercise analysis section 24 analyzes the exercise during running ofthe user using the calculation data (the calculation data stored in thestorage section 30) output by the inertial navigation calculationsection 22 to generate the exercise analysis information (e.g., theinput information, the basic information, the first analysisinformation, the second analysis information, and the bilateraldifference ratio described later) as the information of the analysisresult. The exercise analysis information generated by the exerciseanalysis section 24 is stored in the storage section 30 in a time-seriesmanner during running of the user.

Further, the exercise analysis section 24 generates the in-runningoutput information as the information output during running of the user(specifically a period from when the inertial measurement unit 10 startsthe measurement to when the inertial measurement unit 10 stops themeasurement) using the exercise analysis information thus generated. Thein-running output information having been generated by the exerciseanalysis section 24 is transmitted to the notification device 3 via thecommunication section 40.

Further, the exercise analysis section 24 generates the running resultinformation as the information of the running result when stoppingrunning of the user (specifically when stopping the measurement by theinertial measurement unit 10) using the exercise analysis informationgenerated during running. The running result information having beengenerated by the exercise analysis section 24 is transmitted to thenotification device 3 via the communication section 40.

1-3-3. Functional Configuration of Inertial Navigation CalculationSection

FIG. 9 is a functional block diagram showing a configuration example ofthe inertial navigation calculation section 22. In the presentembodiment, the inertial navigation calculation section 22 includes abias elimination section 210, an integral processing section 220, anerror estimation section 230, a running processing section 240, and acoordinate transformation section 250. It should be noted that it isalso possible for the inertial navigation calculation section 22according to the present embodiment to have a configuration obtained byeliminating or modifying some of these constituents, or adding otherconstituents.

The bias elimination section 210 performs a process of subtracting theacceleration bias b_(a) and the angular velocity bias b_(ω) estimated bythe error estimation section 230 respectively from the triaxialacceleration and the triaxial angular velocity included in the sensingdata newly obtained to thereby correct the triaxial acceleration and thetriaxial angular velocity. It should be noted that since there is noestimation values of the acceleration bias b_(a) and the angularvelocity bias b_(ω) in the initial state immediately after starting themeasurement, the bias elimination section 210 calculates the initialbias using the sensing data from the inertial measurement unit assumingthat the initial state of the user is a resting state.

The integral processing section 220 performs a process of calculatingthe velocity v^(e), the position p^(e), and the attitude angles (a rollangle φ_(be), a pitch angle θ_(be), and a yaw angle ψ_(be)) in thee-frame from the acceleration and the angular velocity corrected by thebias elimination section 210. Specifically, the integral processingsection 220 sets the initial velocity to zero assuming that the initialstate of the user is the resting state, or calculates the initialvelocity from the velocity included in the GPS data, and furthercalculates the initial position from the position included in the GPSdata. Further, the integral processing section 220 identifies thedirection of the gravitational acceleration from the triaxialacceleration in the b-frame corrected by the bias elimination section210 to calculate the initial values of the roll angle φ_(be) and thepitch angle θ_(be), and at the same time calculates the initial value ofthe yaw angle ψ_(be) from the velocity included in the GPS data tothereby obtain the initial attitude angles in the e-frame. In the casein which the GPS data cannot be obtained, the initial value of the yawangle ψ_(be) is set to, for example, zero. Further, the integralprocessing section 220 calculates the initial values of a coordinatetransformation matrix (a rotation matrix) C_(b) ^(e) from the b-frame tothe e-frame expressed by Formula 1 from the initial attitude angles thuscalculated.

$\begin{matrix}{\mspace{20mu} {{Formula}\mspace{14mu} 1}} & \; \\{C_{b}^{e} = \begin{bmatrix}{\cos \; {\theta_{be} \cdot \cos}\; \phi_{be}} & {\cos \; {\theta_{be} \cdot \sin}\; \phi_{be}} & {{- \sin}\; \theta_{be}} \\\begin{matrix}{{\sin \; {\varphi_{be} \cdot \sin}\; {\theta_{be} \cdot \cos}\; \phi_{be}} -} \\{\cos \; {\varphi_{be} \cdot \sin}\; \phi_{be}}\end{matrix} & \begin{matrix}{{\sin \; {\varphi_{be} \cdot \sin}\; {\theta_{be} \cdot \sin}\; \phi_{be}} +} \\{\cos \; {\varphi_{be} \cdot \cos}\; \phi_{be}}\end{matrix} & \begin{matrix}{\sin \; {\varphi_{be} \cdot}} \\{\cos \; \theta_{be}}\end{matrix} \\\begin{matrix}{{\cos \; {\varphi_{be} \cdot \sin}\; {\theta_{be} \cdot \cos}\; \phi_{be}} +} \\{\sin \; {\varphi_{be} \cdot \sin}\; \phi_{be}}\end{matrix} & \begin{matrix}{{\cos \; {\varphi_{be} \cdot \sin}\; {\theta_{be} \cdot \sin}\; \phi_{be}} -} \\{\sin \; {\varphi_{be} \cdot \cos}\; \phi_{be}}\end{matrix} & \begin{matrix}{\cos \; {\varphi_{be} \cdot}} \\{\; {\cos \; \theta_{be}}}\end{matrix}\end{bmatrix}} & (1)\end{matrix}$

Subsequently, the integral processing section 220 integrates (performs acurl operation on) the triaxial angular velocity corrected by the biaselimination section 210 to calculate the coordinate transformationmatrix C_(b) ^(e), and then calculates the attitude angles using Formula2.

$\begin{matrix}{{Formula}\mspace{14mu} 2} & \; \\{\begin{bmatrix}\varphi_{be} \\\theta_{be} \\\phi_{be}\end{bmatrix} = \begin{bmatrix}{\arctan \; 2\left( {{C_{b}^{e}\left( {2,3} \right)},{C_{b}^{e}\left( {3,3} \right)}} \right)} \\{{- \arcsin}\; {C_{b}^{e}\left( {1,3} \right)}} \\{\arctan \; 2\left( {{C_{b}^{e}\left( {1,2} \right)},{C_{b}^{e}\left( {1,1} \right)}} \right)}\end{bmatrix}} & (2)\end{matrix}$

Further, the integral processing section 220 converts the triaxialacceleration in the b-frame corrected by the bias elimination section210 into the triaxial acceleration in the e-frame using the coordinatetransformation matrix C_(b) ^(e), and then integrates the triaxialacceleration after eliminating the gravitational acceleration componentto thereby calculate the velocity v^(e) in the e-frame. Further, theintegral processing section 220 integrates the velocity v^(e) in thee-frame to calculate the position p^(e) in the e-frame.

Further, the integral processing section 220 also performs a process ofcorrecting the velocity v^(e), the position p^(e), and the attitudeangles using the velocity error δv^(e), the position error δp^(e), andthe attitude angle error ε^(e) estimated by the error estimation section230, and a process of calculating the distance by integrating thevelocity v^(e) thus corrected.

Further, the integral processing section 220 also calculates acoordinate transformation matrix C_(b) ^(m) from the b-frame to them-frame, and a coordinate transformation matrix C_(e) ^(m) from thee-frame to the m-frame, and a coordinate transformation matrix C_(e)^(n) from the e-frame to the n-frame. These coordinate transformationmatrixes are used for a coordinate transformation process of thecoordinate transformation section 250 described later as coordinatetransformation information.

The error estimation section 230 estimates errors of the indexesrepresenting the state of the user using the velocity, the position, andthe attitude angles calculated by the integral processing section 220,the acceleration and the angular velocity corrected by the biaselimination section 210, the GPS data, the geomagnetic data, and so on.In the present embodiment, the error estimation section 230 estimatesthe errors of the velocity, the attitude angles, the acceleration, theangular velocity, and the position using the extended Kalman filter.Specifically, the error estimation section 230 uses the error (thevelocity error) δv^(e) of the velocity v^(e) calculated by the integralprocessing section 220, the error (the attitude angle error) ε^(e) ofthe attitude angles calculated by the integral processing section 220,the acceleration bias b_(a), the angular velocity bias b_(ω), and theerror (the position error) δp^(e) of the position p^(e) calculated bythe integral processing section 220 as the state variables of theextended Kalman filter to define the state vector X as Formula 3.

$\begin{matrix}{{Formula}\mspace{14mu} 3} & \; \\{X = \begin{bmatrix}{\delta \; v^{e}} \\ɛ^{e} \\b_{a} \\b_{\omega} \\{\delta \; p^{e}}\end{bmatrix}} & (3)\end{matrix}$

The error estimation section 230 uses a prediction formula of theextended Kalman filter to predict the state variables included in thestate vector X. The prediction formula of the extended Kalman filter isexpressed as Formula 4. In Formula 4, the matrix Φ is a matrix forassociating the previous state vector X and the present state vector Xwith each other, and some of the elements are designed to momentarilyvary while reflecting the attitude angles, the position, and so on.Further, Q represents a matrix representing process noise, wherein eachof the elements is set to an appropriate value in advance. Further, Prepresents an error covariance matrix of the state variables.

Formula 4

X=ΦX

P=ΦPΦ ^(T) +Q  (4)

Further, the error estimation section 230 uses an update formula of theextended Kalman filter to update (correct) the state variables thuspredicted. The update formula of the extended Kalman filter is expressedas Formula 5. Z and H represent an observation vector and an observationmatrix, respectively, and Formula 5 expresses the fact that the statevector X is corrected using a difference between the actual observationvector Z and the vector HX predicted from the state vector X. Rrepresents the covariance matrix of the observation error, and can be aconstant value determined in advance, or can also be varied dynamically.K represents a Kalman gain, and the smaller the covariance matrix R is,the higher the Kalman gain K becomes. According to Formula 5, the higherthe Kalman gain K is (the smaller the covariance matrix R is), thelarger the correction amount of the state vector X becomes, and theerror covariance matrix P decreases accordingly.

Formula 5

K=PH ^(T)(HPH ^(T) +R)⁻¹

X=X+K(Z−HX)

P=(I−KH)P  (5)

As the method of the error estimation (an estimation method of the statevector X), the following can be cited for example.

Error Estimation Method Using Correction Based on Attitude Angle Error

FIG. 10 is a diagram of looking down at the translation of the user inthe case in which the user wearing the exercise analysis device 2 on theright waist makes a running action (straight ahead). Further, FIG. 11 isa diagram showing an example of the yaw angle (an azimuth angle)calculated from the detection result of the inertial measurement unit 10in the case in which the user makes the running action (straight ahead),wherein the horizontal axis represents time, and the vertical anglerepresents the yaw angle (the azimuth angle).

Due to the running action of the user, the attitude of the inertialmeasurement unit 10 with respect to the user changes occasionally. Inthe state in which the user steps out with the left foot, the inertialmeasurement unit 10 takes an attitude tilted leftward with respect tothe proceeding direction (the x axis in the m-frame) as shown in thepart (1) and the part (3) of FIG. 10. In contrast, in the state in whichthe user steps out with the right foot, the inertial measurement unit 10takes an attitude tilted rightward with respect to the proceedingdirection (the x axis in the m-frame) as shown in the part (2) and thepart (4) of FIG. 10. In other words, it results that the attitude of theinertial measurement unit 10 periodically changes every two steps,namely one step each with the left and right feet, due to the runningaction of the user. In FIG. 11, for example, the yaw angle takes localmaximum values (marks ∘ in FIG. 11) in the state of stepping out withthe right foot, and takes local minimum values (marks  in FIG. 11) inthe state of stepping out with the left foot. Therefore, it is possibleto estimate the error assuming that the previous (two steps ago)attitude angle and the present attitude angle are equal to each other,and the previous attitude angle is a true attitude. In this method, theobservation vector Z in Formula 5 is a difference between the previousattitude angle and the present attitude angle calculated by the integralprocessing section 220, and using Formula 5 as the update formula, thestate vector X is corrected based on the difference between the attitudeangle error ε^(e) and the observation value to estimate the error.

Error Estimation Method Using Correction Based on Angular Velocity Bias

In this method, the error is estimated assuming that the previous (twosteps ago) attitude angle and the present attitude angle are equal toeach other, but it is not required for the previous attitude angle to bethe true attitude. In this method, the observation vector Z in Formula 5is an angular velocity bias calculated from the previous attitude angleand the present attitude angle calculated by the integral processingsection 220, and using Formula 5 as the update formula, the state vectorX is corrected based on the difference between the angular velocity biasb_(ω) and the observation value to estimate the error.

Error Estimation Method Using Correction Based on Azimuth Angle Error

In this method, the error is estimated assuming that the previous (twosteps ago) yaw angle (the azimuth angle) and the present yaw angle (theazimuth angle) are equal to each other, and the previous yaw angle (theazimuth angle) is a true yaw angle (azimuth angle). In this method, theobservation vector Z is a difference between the previous yaw angle andthe present yaw angle calculated by the integral processing section 220,and using Formula 5 as the update formula, the state vector X iscorrected based on the difference between an azimuth angle error ε_(z)^(e) and the observation value to estimate the error.

Error Estimation Method Using Correction Based on Stoppage

In this method, the error is estimated assuming that the velocity iszero during a stoppage. In this method, the observation vector Z is adifference between the velocity v^(e) calculated by the integralprocessing section 220 and zero, and using Formula 5 as the updateformula, the state vector X is corrected based on the velocity errorδv^(e) to estimate the error.

Error Estimation Method Using Correction Based on Rest

In this method, the error is estimated assuming that the velocity iszero and an attitude change is zero during rest. In this method, theobservation vector Z corresponds to the error of the velocity v^(e)calculated by the integral processing section 220 and the differencebetween the previous attitude angle and the present attitude anglecalculated by the integral processing section 220, and using Formula 5as the update formula, the state vector X is corrected based on thevelocity error δv^(e) and the attitude angle error ε^(e) to estimate theerror.

Error Estimation Method Using Correction Based on Observation Value ofGPS

In this method, the error is estimated assuming that the velocity v^(e),the position p^(e), of the yaw angle ψ_(be) calculated by the integralprocessing section 220 and the velocity, the position, or the azimuthangle (the velocity, the position, or the azimuth angle transformed tothe e-frame) calculated from the GPS data are equal to each other,respectively. In this method, the observation vector Z is a differencebetween the velocity, the position, or the yaw angle calculated by theintegral processing section 220 and the velocity, the position, or theazimuth angle calculated from the GPS data, respectively, and usingFormula 5 as the update formula, the state vector X is corrected basedon the difference between the velocity error δv^(e), the position errorδp^(e), or the azimuth angle error ε_(z) ^(e) and the observation valueto estimate the error.

Error Estimation Method Using Correction Based on Observation Value ofGeomagnetic Sensor

In this method, the error is estimated assuming that the yaw angleψ_(be) calculated by the integral processing section 220 and the azimuthangle (the azimuth angle transformed to the e-frame) calculated from thegeomagnetic data are equal to each other. In this method, theobservation vector Z is a difference between the yaw angle calculated bythe integral processing section 220 and the azimuth angle calculatedfrom the geomagnetic data, and using Formula 5 as the update formula,the state vector X is corrected based on the difference between theazimuth angle error ε_(z) ^(e) and the observation value to estimate theerror.

Going back to FIG. 9, the running processing section 240 includes arunning detection section 242, a stride length calculation section 244,and a pitch calculation section 246. The running detection section 242performs a process of detecting a running period (running timing) of theuser using the detection result (specifically, sensing data corrected bythe bias elimination section 210) of the inertial measurement unit 10.As explained with respect to FIGS. 10 and 11, since the attitude of theuser periodically (every two steps (one step each with the left andright feet)) changes during running of the user, the accelerationdetected by the inertial measurement unit 10 also changes periodically.FIG. 12 is a diagram showing an example of the triaxial accelerationdetected by the inertial measurement unit 10 during running of the user.In FIG. 12, the horizontal axis represents time, and the vertical axisrepresents an acceleration value. It is understood that as shown in FIG.12, the triaxial acceleration changes periodically, and in particular,the z-axis (the axis in the gravitational direction) accelerationregularly changes with periodicity. The z-axis acceleration reflects theacceleration of an up-and-down motion of the user, and a period fromwhen the z-axis acceleration takes a local maximum value equal to orhigher than a predetermined threshold value to the next time the z-axisacceleration takes the local maximum value equal to or higher than thepredetermined threshold value corresponds to the period of one step.

Therefore, in the present embodiment, the running detection section 242detects the running period every time the z-axis acceleration(corresponding to the acceleration of the up-and-down motion of theuser) detected by the inertial measurement unit 10 takes the localmaximum value equal to or higher than the predetermined threshold value.Specifically, the running detection section 242 outputs a timing signalrepresenting the fact that the running period has been detected everytime the z-axis acceleration takes the local maximum value equal to orhigher than the predetermined threshold value. In reality, since thetriaxial acceleration detected by the inertial measurement unit 10includes a high-frequency noise component, the running detection section242 detects the running period using the z-axis acceleration, which hasbeen made to pass through a low-pass filter to remove the noise.

Further, the running detection section 242 determines whether therunning period thus detected is the left running period or the rightrunning period to output a right/left foot flag (e.g., set to an ONstate in the case of the right foot, and set to an OFF state in the caseof the left foot) representing which one of the right and left runningperiod has been detected. For example, since the yaw angle takes thelocal maximum values (the marks ∘ in FIG. 11) in the state of steppingout with the right feet, and the yaw angle takes the local minimumvalues (the marks  in FIG. 11) as shown in FIG. 11, it is possible forthe running detection section 242 to determine which one of the rightand left running periods has been detected using the attitude angles (inparticular the yaw angle) calculated by the integral processing section220. Further, as shown in FIG. 10, when viewed from the top of the headof the user, the inertial measurement unit 10 rotates clockwise in aperiod in which the user, which is in the state of stepping out with theleft foot (the state of the part (1) or the part (3) in FIG. 10),reaches the state of stepping out with the right foot (the state of thepart (2) or the part (4) in FIG. 10), and in contrast, rotatescounterclockwise in a period in which the user, which is in the state ofstepping out with the right foot, reaches the state of stepping out withthe left foot. Therefore, for example, it is also possible for therunning detection section 242 to determine which one of the right andleft running periods has been detected based on the polarity of thez-axis acceleration. In this case, since the triaxial accelerationdetected by the inertial measurement unit 10 includes a high-frequencynoise component, the running detection section 242 determines which oneof the right and left running periods has been detected using the z-axisacceleration, which has been made to pass through the low-pass filter toremove the noise.

The stride length calculation section 244 calculates the stride lengthof each of right and left strides using the timing signal of the runningperiod and the right/left foot flag output by the running detectionsection 242 and the velocity or the position calculated by the integralprocessing section 220, and then performs the process of outputting theresult as the right and left strides. Specifically, the stride lengthcalculation section 244 integrates the velocity every sampling period Δt(or calculates a difference between the position at the start of therunning period and the position at the start of the subsequent runningperiod) during the period from the start of the running period to thestart of the subsequent running period to calculate the stride length,and then outputs the stride length as the stride.

The pitch calculation section 246 performs a process of calculating thenumber of steps in one minute using the timing signal of the runningperiod output by the running detection section 242, and then outputtingthe result as the running pitch. Specifically, the pitch calculationsection 246 calculates, for example, the number of steps per second bycalculating the reciprocal of the running period, and then multipliesresult by 60 to obtain the number of steps per minute (the runningpitch).

The coordinate transformation section 250 performs the coordinatetransformation process of transforming the triaxial acceleration and thetriaxial angular velocity in the b-frame corrected by the biaselimination section 210 respectively to the triaxial acceleration andthe triaxial angular velocity in the m-frame using the coordinatetransformation information (the coordinate transformation matrix C_(b)^(m) from the b-frame to the m-frame calculated by the integralprocessing section 220. Further, the coordinate transformation section250 performs the coordinate transformation process of transforming thevelocities in the three axis directions, the attitude angles around thethree axes, and the distances in the three axis directions in thee-frame calculated by the integral processing section 220 respectivelyto the velocities in the three axis directions, the attitude anglesaround the three axes, and the distances in the three axis directions inthe m-frame using the coordinate transformation information (thecoordinate transformation matrix C_(e) ^(m)) from the e-frame to them-frame calculated by the integral processing section 220. Further, thecoordinate transformation section 250 performs the coordinatetransformation process for transforming the position in the e-framecalculated by the integral processing section 220 to the position in then-frame using the coordinate transformation information (the coordinatetransformation matrix C_(e) ^(n)) from the e-frame to the n-framecalculated by the integral processing section 220.

Further, the inertial navigation calculation section 22 outputs (storesin the storage section 30) the calculation data including informationsuch as the acceleration, the angular velocity, the velocity, theposition, the attitude angles, and the distance, on which the coordinatetransformation section 250 has performed the coordinate transformation,and the strides, the running pitches, and the right/left foot flagcalculated by the running processing section 240.

1-3-4. Functional Configuration of Exercise Analysis Section

FIG. 13 is a functional block diagram showing a configuration example ofthe exercise analysis section 24. In the present embodiment, theexercise analysis section 24 includes a feature point detection section260, a grounding time/impact time calculation section 262, a basicinformation generation section 272, a first analysis informationgeneration section 274, a second analysis information generation section276, a bilateral difference ratio calculation section 278, and an outputinformation generation section 280. It should be noted that it is alsopossible for the exercise analysis section 24 according to the presentembodiment to have a configuration obtained by eliminating or modifyingsome of these constituents, or adding other constituents.

The feature point detection section 260 performs a process of detectingfeature points in the running exercise of the user using the calculationdata. The feature points in the running exercise of the user are, forexample, landing (which can arbitrarily be set to when a part of thesole lands on the ground, when the entire sole lands on the ground, anarbitrary time point in a period from when the heel lands on the groundto when the toe is separated from the ground, an arbitrary time point ina period from when the toe lands on the ground to when the heel isseparated from the ground, a period during which the entire sole hascontact with the ground, and so on), treading-in (the state in which thelargest part of the weight is born by the foot), separation from theground (which is also referred to as kicking, and can arbitrarily be setto when a part of the sole is separated from the ground, when the entiresole is separated from the ground, an arbitrary time point in a periodfrom when the heel lands on the ground to when the toe is separated fromthe ground, an arbitrary time point in a period from when the toe landson the ground to when the toe is separated from the ground, and so on),and so on. Specifically, the feature point detection section 260 detectsthe feature points in the running period of the right foot and thefeature points in the running period of the left foot separately fromeach other using the right/left foot flag included in the calculationdata. For example, it is possible for the feature point detectionsection 260 to detect the landing at the timing when verticalacceleration (the detection value along the z axis of the accelerationsensor) changes from a positive value to a negative value, detect thetreading-in at the time point when proceeding direction acceleration hasa peak on and after the vertical acceleration has a peak in the negativedirection after the landing, and then detect the separation from theground (the kicking) at the time point when the vertical accelerationchanges from a negative value to a positive value.

The grounding time/impact time calculation section 262 performs aprocess of calculating the values of the grounding time and the impacttime based on the timing when the feature point detection section 260has detected the feature points using the calculation data.Specifically, the grounding time/impact time calculation section 262determines whether the present calculation data is the calculation dataof the running period of the right foot or the calculation data of therunning period of the left foot based on the right/left foot flagincluded in the calculation data, and then calculates the values of thegrounding time and the impact time separately for the running period ofthe right foot and the running period of the left foot based on the timepoint when the feature point detection section 260 has detected thefeature points. The details of the definitions, calculation methods, andso on of the grounding time and the impact time will be described later.

The basic information generation section 272 performs a process ofgenerating basic information related to the exercise of the user usingthe information of the acceleration, the velocity, the position, thestride, and the running pitch included in the calculation data. Here,the basic information includes items of the running pitch, the stride,the running speed, the altitude, a running distance, and running time(lap time). Specifically, the basic information generation section 272outputs the running pitch and the stride included in the calculationdata as the running pitch and the stride of the basic information,respectively. Further, the basic information generation section 272calculates the current values, average values during running, and so onof the running speed, the altitude, the running distance, and therunning time (lap time) using some or all of the acceleration, thevelocity, the position, the running pitch, and the stride included inthe calculation data.

The first analysis information generation section 274 performs a processof analyzing the exercise of the user based on the timing when thefeature point detection section 260 has detected the feature pointsusing the input information to generate the first analysis information.

Here, the input information includes the items of the proceedingdirection acceleration, proceeding direction velocity, a proceedingdirection distance, the vertical acceleration, vertical velocity, avertical distance, horizontal acceleration, horizontal velocity, ahorizontal distance, the attitude angles (the roll angle, the pitchangle, and the yaw angle), the angular velocities (in the rolldirection, the pitch direction, and the yaw direction), the runningpitch, the stride, the grounding time, the impact time, and the weight.The weight is input by the user, the grounding time and the impact timeare calculated by the grounding time/impact time calculation section262, and the rest of the items are included in the calculation data.

Further, the first analysis information includes items of brake amountsat landing (a first brake amount at landing, a second brake amount atlanding), landing-below-COG ratios (a first landing-below-COG ratio, asecond landing-below-COG ratio, a third landing-below-COG ratio),propulsion (first propulsion, second propulsion), propulsive efficiency(first propulsive efficiency, second propulsive efficiency, thirdpropulsive efficiency, fourth propulsive efficiency), energyconsumption, a landing impact, running ability, a forward tilt angle, atiming coincidence degree, and the flow of leg. The items of the firstanalysis information are items representing the running state of theuser. The details of the definitions and calculation methods of theitems of the first analysis information will be described later.

Further, the first analysis information generation section 274calculates the values of the respective items of the first analysisinformation separately for the right and left regions of the body of theuser. Specifically, the first analysis information generation section274 calculates the items included in the first analysis informationseparately for the running period of the right foot and the runningperiod of the left foot in accordance with whether the feature pointdetection section 260 has detected the feature points in the runningperiod of the right foot or the feature points in the running period ofthe left foot. Further, the first analysis information generationsection 274 calculates an average value or a total value of the rightand left running periods with respect to each of the items included inthe first analysis information.

The second analysis information generation section 276 performs aprocess of generating the second analysis information using the firstanalysis information generated by the first analysis informationgeneration section 274. Here, the second analysis information includesitems of an energy loss, energy efficiency, and a load on the body. Thedetails of the definitions and calculation methods of the items of thesecond analysis information will be described later. The second analysisinformation generation section 276 calculates the values of the items ofthe second analysis information separately for the running period of theright foot and the running period of the left foot. Further, the secondanalysis information generation section 276 calculates an average valueor a total value of the right and left running periods with respect toeach of the items included in the second analysis information.

The bilateral difference ratio calculation section 278 performs aprocess of calculating the bilateral difference ratio as an indexrepresenting the balance between the right and left regions of the bodyof the user using the value in the running period of the right foot andthe value in the running period of the left foot with respect to each ofthe running pitch, the stride, the grounding time, and the impact timeincluded in the input information, all of the items of the firstanalysis information, and all of the items of the second analysisinformation. The details of the definition and calculation method of thebilateral difference ratio will be described later.

The output information generation section 280 performs a process ofgenerating the in-running output information as information outputduring running of the user using the basic information, the inputinformation, the first analysis information, the second analysisinformation, the bilateral difference ratio, and so on. The “runningpitch,” the “stride,” the “grounding time,” and the “impact time”included in the input information, all of the items of the firstanalysis information, all of the items of the second analysisinformation, and the bilateral difference ratio are exercise indexesused for the evaluation of the running technique of the user, and thein-running output information includes the information of some or all ofthe values of these exercise indexes. The exercise indexes included inthe in-running output information can be determined in advance, or canalso be arranged to be able to be selected by the user operating thenotification device 3. Further, the in-running output information canalso include some or all of the running speed, the altitude, the runningdistance, and the running time (the lap time) included in the basicinformation.

Further, the output information generation section 280 generates therunning result information as information of the running result of theuser using the basic information, the input information, the firstanalysis information, the second analysis information, the bilateraldifference ratio, and so on. For example, it is also possible for theoutput information generation section 280 to generate the running resultinformation including information of the average values of therespective exercise indexes during running of the user (during themeasurement by the inertial measurement unit 10). Further, the runningresult information can also include some or all of the running speed,the altitude, the running distance, and the running time (the lap time).

The output information generation section 280 transmits the in-runningoutput information to the notification device 3 during running of theuser via the communication section 40, and then transmits the runningresult information to the notification device 3 at the end of running ofthe user.

1-3-5. Input Information

The items of the input information will hereinafter be explained indetail.

Proceeding Direction Acceleration, Vertical Direction Acceleration, andHorizontal Direction Acceleration

The “proceeding direction” is a proceeding direction (the x-axisdirection in the m-frame) of the user, the “vertical direction” is avertical direction (the z-axis direction in the m-frame), and the“horizontal direction” is a direction (the y-axis direction in them-frame) perpendicular to both of the proceeding direction and thevertical direction. The proceeding direction acceleration, the verticalacceleration, and the horizontal acceleration are the acceleration inthe x-axis direction in the m-frame, the acceleration in the z-axisdirection, and the acceleration in the y-axis direction, respectively,and are calculated by the coordinate transformation section 250.

Proceeding Direction Velocity, Vertical Direction Velocity, andHorizontal Direction Velocity

The proceeding direction velocity, the vertical velocity, and thehorizontal velocity are the velocity in the x-axis direction in them-frame, the velocity in the z-axis direction, and the velocity in they-axis direction, respectively, and are calculated by the coordinatetransformation section 250. Alternatively, it is also possible tocalculate the proceeding direction velocity, the vertical velocity, andthe horizontal velocity by respectively integrating the proceedingdirection acceleration, the vertical acceleration, and the horizontalacceleration.

Angular Velocities (in Roll Direction, Pitch Direction, and YawDirection)

The angular velocity in the roll direction, the angular velocity in thepitch direction, and the angular velocity in the yaw direction are theangular velocity around the x-axis, the angular velocity around they-axis, and the angular velocity around the z-axis, respectively, in them-frame and are calculated by the coordinate transformation section 250.

Attitude Angles (Roll Angle, Pitch Angle, and Yaw Angle)

The roll angle, the pitch angle, and the yaw angle are the attitudeangle around the x-axis, the attitude angle around the y-axis, and theattitude angle around the z-axis, respectively, in the m-frame output bythe coordinate transformation section 250, and are calculated by thecoordinate transformation section 250. Alternately, it is also possibleto calculate the roll angle, the pitch angle, and the yaw angle byintegrating (performing a curl operation on) the angular velocity in theroll direction, the angular velocity in the pitch direction, and theangular velocity in the yaw direction.

Proceeding Direction Distance, Vertical Direction Distance, andHorizontal Direction Distance

The proceeding direction distance, the vertical distance, and thehorizontal distance are the moving distance in the x-axis direction, themoving distance in the z-axis direction, and the moving distance in they-axis direction, respectively, in the m-frame from a desired position(e.g., a position of the user immediately before starting running), andare calculated by the coordinate transformation section 250.

Running Pitch

The running pitch is an exercise index defined as the number of stepsper minute, and is calculated by the pitch calculation section 246.Alternatively, it is also possible to calculate the running pitch bydividing the proceeding direction distance per minute by the stride.

Stride

The stride is an exercise index defined as the stride length of onestep, and is calculated by the stride length calculation section 244.Alternatively, it is also possible to calculate the stride by dividingthe proceeding direction distance per minute by the running pitch.

Grounding Time

The grounding time is an exercise index defined as the time taken fromthe landing to the separation from the ground (kicking), and iscalculated by the grounding time/impact time calculation section 262.The separation from the ground (kicking) is a moment when the toe isseparated from the ground. It should be noted that the grounding time ishighly correlated with the running speed, and can therefore be used asthe running ability in the first analysis information.

Impact Time

The impact time is an exercise index defined as the time during whichthe impact generated by the landing is applied to the body, and iscalculated by the grounding time/impact time calculation section 262.The impact time can be calculated as follows.

(impact time)=(time point at which the proceeding direction accelerationis the minimum in one step)−(time point of landing)

Weight

The weight is the weight of the user, and the numerical value of theweight is input by the user operating the operation section 150 (seeFIG. 18) before running.

1-3-6. First Analysis Information

The details of the items of the first analysis information calculated bythe first analysis information generation section 274 will hereinafterbe explained.

First Brake Amount at Landing

The first brake amount at landing is an exercise index defined as thevelocity amount decreased by landing, and can be calculated as follows.

(first brake amount at landing)=(proceeding direction velocity beforelanding)−(the lowest proceeding direction velocity)

The velocity in the proceeding direction drops due to landing, and thelowest point of the proceeding direction velocity after landing in onestep corresponds to the lowest proceeding direction velocity.

Second Brake Amount at Landing

The second brake amount at landing is an exercise index defined as thelowest negative acceleration amount in the proceeding directiongenerated by landing, and coincides with the lowest proceeding directionacceleration in one step. The lowest point of the proceeding directionacceleration after landing in one step corresponds to the lowestproceeding direction acceleration.

First Landing-Below-COG Ratio

The first landing-below-COG ratio is an exercise index representingwhether or not landing below the center of gravity can be achieved. Ifit becomes possible to land below the center of gravity of the body, thebrake amount at landing decreases, and it becomes possible to runefficiently. Since the brake amount normally increases in accordancewith the velocity, the brake amount alone is not sufficient as theindex. However, since the first landing-below-COG ratio is an index,which can be expressed as a ratio, according to the firstlanding-below-COG ratio, the same evaluation can be realized even if thevelocity changes. By defining α as follows using the proceedingdirection acceleration (negative acceleration) and the verticalacceleration at landing, the first landing-below-COG ratio can becalculated as follows.

α=arctan((proceeding direction acceleration at landing)/(verticalacceleration at landing))

(first landing-below-COG ratio)=cos α×100(%)

Alternatively, it is also possible to calculate an ideal angle α′ usingdata of a plurality of people fast in running to calculate the firstlanding-below-COG ratio as follows.

(first landing-below-COG ratio)={1−|(α′−α)/α′|}×100(%)

Second Landing-Below-COG Ratio

The second landing-below-COG ratio is an exercise index expressingwhether or not the landing below the center of gravity of the body isachieved using a degree of the velocity drop at landing, and iscalculated as follows.

(second landing-below-COG ratio)=((the lowest proceeding directionvelocity after landing)/(proceeding direction velocity immediatelybefore landing))×100(%)

Third Landing-Below-COG Ratio

The third landing-below-COG ratio is an exercise index expressingwhether or not the landing below the center of gravity of the body isachieved using the distance or the time from the landing to when thefoot reaches a point below the center of gravity of the body. The thirdlanding-below-COG ratio can be calculated either of the followingformulas.

(third landing-below-COG ratio)=(proceeding direction distance when thefoot reaches a point below the center of gravity of thebody)−(proceeding direction distance at landing)

(third landing-below-COG ratio)=(time point when the foot reaches apoint below the center of gravity of the body)−(time point at landing)

After the landing (a point where the vertical acceleration changes froma positive value to a negative value), there exists the timing when thevertical acceleration has a peak in the negative direction, and thetiming can be determined as the timing (the time point) when the footreaches a point below the center of gravity of the body.

It should be noted that besides the above, the third landing-below-COGratio can also be defined as follows.

(third landing-below-COG ratio)=arctan((distance from the landingposition to the point of the foot below the center of gravity of thebody)/(height of the waist))

Alternatively, the third landing-below-COG ratio can also be defined asthe following formula (the proportion of the distance from the landingto the point reached by the foot below the center of gravity of the bodyto the moving distance in a period during which the foot is grounded).

(third landing-below-COG ratio)=(1−(distance from the landing to thepoint of the foot below the center of gravity of the body)/(movingdistance from the landing to the kicking))×100(%)

Alternatively, the third landing-below-COG ratio can also be defined asthe following formula (the proportion of the time from the landing towhen the foot has reached a point below the center of gravity of thebody to the moving time in the period during which the foot isgrounded).

(third landing-below-COG ratio)=(1−(time from the landing to when thefoot reaches a point below the center of gravity of the body)/(movingtime from the landing to the kicking))×100(%)

First Propulsion

The first propulsion is an exercise index defined as a velocity amountincreasing in the proceeding direction by kicking the ground, and can becalculated as follows.

(first propulsion)=(the highest proceeding direction velocity afterkicking)−(the lowest proceeding direction velocity before kicking)

Second Propulsion

The second propulsion is an exercise index defined as the highestpositive acceleration in the proceeding direction generated by kicking,and coincides with the highest proceeding direction acceleration afterkicking in one step.

First Propulsive Efficiency

The first propulsive efficiency is an exercise index representingwhether or not the kicking force is efficiently used as the propulsion.If ineffective vertical motions and ineffective horizontal motions areeliminated, it becomes possible to run efficiently. Since the verticalmotions and the horizontal motions normally increase in accordance withthe velocity, the vertical motions and the horizontal motions alone arenot sufficient as the index. However, since the first propulsiveefficiency is an index, which can be expressed as a ratio, according tothe first propulsive efficiency, the same evaluation can be realizedeven if the velocity changes. The first propulsive efficiency iscalculated with respect to each of the vertical direction and thehorizontal direction. By defining a value γ as follows using thevertical acceleration and the proceeding direction acceleration atkicking, the first propulsive efficiency in the vertical direction canbe calculated as follows.

γ=arctan((vertical acceleration at kicking)/(proceeding directionacceleration at kicking))

(first propulsive efficiency in the vertical direction)=cos γ×100(%)

Alternatively, it is also possible to calculate an ideal angle γ′ usingdata of a plurality of people fast in running to calculate the firstpropulsive efficiency in the vertical direction as follows.

(first propulsive efficiency in the verticaldirection)={1−|(γ′−γ)/γ′|}×100(%)

Similarly, by defining a value δ as follows using the horizontalacceleration and the proceeding direction acceleration at kicking, thefirst propulsive efficiency in the horizontal direction can becalculated as follows.

δ=arctan((horizontal acceleration at kicking)/(proceeding directionacceleration at kicking))

(first propulsive efficiency in the horizontal direction)=cos δ×100(%)

Alternatively, it is also possible to calculate an ideal angle δ′ usingdata of a plurality of people fast in running to calculate the firstpropulsive efficiency in the horizontal direction as follows.

(first propulsive efficiency in the horizontaldirection)={1−|(δ′−δ)/δ′|}×100(%)

It should be noted that besides the above, it is also possible toreplace the value γ with arctan((vertical velocity at kicking)/(velocityin the proceeding direction at kicking)) to calculate the firstpropulsive efficiency in the vertical direction. Similarly, it is alsopossible to replace the value δ with arctan((horizontal velocity atkicking)/(velocity in the proceeding direction at kicking)) to calculatethe first propulsive efficiency in the horizontal direction.

Second Propulsive Efficiency

The second propulsive efficiency is an exercise index expressing whetheror not the kicking force is efficiently used as the propulsion using anangle of the acceleration at treading-in. By defining ξ as follows usingthe vertical acceleration and the proceeding direction acceleration attreading-in, the second propulsive efficiency in the vertical directioncan be calculated as follows.

ξ=arctan((vertical acceleration at treading-in)/(proceeding directionacceleration at treading-in))

(second propulsive efficiency in the vertical direction)=cos ξ×100(%)

Alternatively, it is also possible to calculate an ideal angle ξ′ usingdata of a plurality of people fast in running to calculate the secondpropulsive efficiency in the vertical direction as follows.

(second propulsive efficiency in the verticaldirection)={2−|(ξ′−ξ)/ξ′|}×100(%)

Similarly, by defining η as follows using the horizontal accelerationand the proceeding direction acceleration at treading-in, the secondpropulsive efficiency in the horizontal direction can be calculated asfollows.

η=arctan((horizontal acceleration at treading-in)/(proceeding directionacceleration at treading-in))(second propulsive efficiency in thehorizontal direction)=cos η×100(%)

Alternatively, it is also possible to calculate an ideal angle η′ usingdata of a plurality of people fast in running to calculate the secondpropulsive efficiency in the horizontal direction as follows.

(second propulsive efficiency in the horizontaldirection)={1−|(η′−η)/η′|}×100(%)

It should be noted that besides the above, it is also possible toreplace the value ξ with arctan((vertical velocity attreading-in)/(velocity in the proceeding direction at treading-in)) tocalculate the second propulsive efficiency in the vertical direction.Similarly, it is also possible to replace the value η witharctan((horizontal velocity at treading-in)/(velocity in the proceedingdirection at treading-in)) to calculate the second propulsive efficiencyin the horizontal direction.

Third Propulsive Efficiency

The third propulsive efficiency is an exercise index expressing whetheror not the kicking force is efficiently used as the propulsion using anangle of jumping-out. Assuming the highest mark (a half of the amplitudeof the vertical distance) in the vertical direction in one step as H,and the proceeding direction distance from kicking to landing as X, thethird propulsive efficiency can be calculated as Formula 6.

$\begin{matrix}{{Formula}\mspace{14mu} 6} & \; \\{\left( {{third}\mspace{14mu} {propulsive}\mspace{14mu} {efficiency}} \right) = {{\arcsin\left( \sqrt{\frac{16H^{2}}{X^{2} + {16H^{2}}}} \right)}L}} & (6)\end{matrix}$

Fourth Propulsive Efficiency

The fourth propulsive efficiency is an exercise index expressing whetheror not the kicking force is efficiently used as the propulsion using theproportion of the energy used for proceeding in the proceeding directionto the total energy generated in one step, and can be calculated asfollows.

(fourth propulsive efficiency)=((energy used for proceeding in theproceeding direction)/(energy used for one step))×100(%)

The energy is a sum of the potential energy and the kinetic energy.

Energy Consumption

The energy consumption is an exercise index defined as an energy amountconsumed for taking one step forward, and also represents a valueobtained by accumulating the energy amount consumed for taking one stepforward during the running period. The energy consumption can becalculated as follows.

(energy consumption)=(energy consumption in the verticaldirection)+(energy consumption in the proceeding direction)+(energyconsumption in the horizontal direction)

Here, the energy consumption in the vertical direction is calculated asfollows.

(energy consumption in the verticaldirection)=(weight)×(gravity)×(vertical distance)

Further, the energy consumption in the proceeding direction iscalculated as follows.

(energy consumption in the proceeding direction)=[(weight)×{(the highestproceeding direction velocity after kicking)²−(the lowest proceedingdirection velocity after landing)²}/2]

Further, the energy consumption in the horizontal direction iscalculated as follows.

(energy consumption in the horizontal direction)=[(weight)×{(the highesthorizontal velocity after kicking)²−(the lowest horizontal velocityafter landing)²}/2]

Landing Impact

The landing impact is an exercise index representing how much impact isapplied to the body due to the landing, and is calculated as follows.

(landing impact)=(impact force in the vertical direction)+(impact forcein the proceeding direction)+(impact force in the horizontal direction)

Here, the impact force in the vertical direction is calculated asfollows.

(impact force in the vertical direction)=(weight)×(vertical velocity atlanding)/(impact time)

Further, the impact force in the proceeding direction is calculated asfollows.

(impact force in the proceeding direction)=(weight)×{(proceedingdirection velocity before landing)−(the lowest proceeding directionvelocity after landing)}/(impact time)

Further, the impact force in the horizontal direction is calculated asfollows.

(impact force in the horizontal direction)=(weight)×{(horizontalvelocity before landing)−(the lowest horizontal velocity afterlanding)}/(impact time)

Running Ability

The running ability is an exercise index representing the performance ofrunning of the user. For example, it has been known that the ratiobetween the stride and the grounding time is correlated with the record(time) of running (“Grounding Time, Separation-From-Ground Time in 100 mRacing” Journal of Research and Development for Future Athletics 3(1),pp. 1-4, 2004), and is calculated as follows.

(running ability)=((stride)/(grounding time))

Forward Tilt Angle

The forward tilt angle is an exercise index representing how much thebody of the user is tilted with respect to the ground. The forward tiltangle is set to 0 degree in the state in which the user is standingvertically with respect to the ground, takes a positive value when theuser stoops, and takes a negative value when the user bends the bodybackward. The forward tilt angle can be obtained by converting the pitchangle in the m-frame to fulfill the specification described above. Sincethere is a possibility that the tilt has already occurred when theexercise analysis device 2 (the inertial measurement unit 10) isattached to the user, it is also possible to assume that the rest statecorresponds to 0 degree shown in the left drawing, and to calculate theforward tilt angle using the variation from the rest state.

Timing Coincidence Degree

The timing coincidence degree is an exercise index representing howclose the timing of the feature point of the user is to the good timing.For example, it is possible to adopt the exercise index representing howclose the timing of waist rotation is to the kicking timing. In therunning method with the leg flowing, when one of the legs is landed, theother of the legs still remains behind the body. Therefore, in the casein which the waist rotation timing comes after kicking, it is possibleto determine that it is the running method in which the leg is flowing.It can be said that the running method is good if the rotation timing ofthe waist and the kicking timing roughly coincide with each other. Itcan be said that the running method with the leg flowing appears if therotation timing of the waist is behind the kicking timing.

Flow of Legs

The flow of leg is an exercise index representing how far the leg, whichhas been kicked, is located behind at the time point when the legsubsequently lands. The flow of leg is calculated as, for example, anangle of the femur of the posterior leg at landing. For example, it ispossible to estimate the angle of the femur of the posterior leg atlanding from an index, which is correlated with the flow of leg, and hasbeen calculated, using a correlation formula obtained in advance.

The index correlated with the flow of leg is calculated as, for example,(time at which the waist has rotated as far as possible in the yawdirection)−(time of landing). The time at which “the waist has rotatedas far as possible in the yaw direction” corresponds to the startingpoint of the action of the subsequent step. In the case in which theperiod from landing to the subsequent action is long, it can be saidthat it takes time to pull the leg back, and there occurs the phenomenonthat the leg is flowing.

Alternatively, the index correlated with the flow of leg is calculatedas (yaw angle at which the waist has rotated as far as possible in theyaw direction)−(yaw angle at landing). In the case in which thevariation in yaw angle is large in the period from landing to thesubsequent action, the action of pulling the leg back exists afterlanding, which appears in the variation of the yaw angle. Therefore,there occurs the phenomenon that the leg is flowing.

Alternatively, it is also possible to adopt the pitch angle at landingas the index correlated with the flow of leg. In the case in which theleg is located at a high position behind the body, the body (the waist)is tilted forward. Therefore, the pitch angle of the sensor attached tothe waist increases. When the pitch angle is large at landing, thereoccurs the phenomenon that the leg is flowing.

1-3-7. Second Analysis Information

The details of the items of the second analysis information calculatedby the second analysis information generation section 276 willhereinafter be explained.

Energy Loss

The energy loss is an exercise index representing an energy amountwasted out of the energy amount consumed for taking one step forward,and also represents the value obtained by accumulating the energy amountwasted out of the energy amount consumed for taking one step forwardduring the running period. The energy loss is calculated as follows.

(energy loss)={(energy consumption)×(100−(landing-below-COGratio))×(100−(propulsive efficiency))}

Here, the landing-below-COG ratio is either one of the first throughthird landing-below-COG ratios, and the propulsive efficiency is one ofthe first through fourth propulsive efficiencies.

Energy Efficiency

The energy efficiency is an exercise index representing whether or notthe energy consumed for taking one step forward is efficiently used asthe energy for proceeding in the proceeding direction, and alsorepresents the value obtained by accumulating the energy efficiencyduring the running period. The energy efficiency is calculated asfollows.

(energy efficiency)={(energy consumption)−(energy loss)}/(energyconsumption)

Load on Body

The load on the body is an exercise index obtained by accumulating thelanding impact, and representing how much impact is accumulated in thebody. Since an injury is caused by the accumulation of the impact, howeasily an injury is caused can be determined by evaluating the load onthe body. The load on the body is calculated as follows.

(load on the body)=(load on the right leg)+(load on the left leg)

The load on the right leg can be calculated by accumulating the landingimpact on the right leg. The load on the left leg can be calculated byaccumulating the landing impact on the left leg. Here, both of theaccumulation during running and the backward accumulation are performed.

1-3-8. Bilateral Difference Ratio (Balance Between Both Sides)

The bilateral difference ratio is an exercise index representing howmuch difference is observed between the right and left regions of thebody with respect to each of the running pitch, the stride, thegrounding time, the impact time, the items of the first analysisinformation, and the items of the second analysis information, and isassumed to represent how different the left leg is from the right leg.The bilateral difference ratio is calculated as follows.

(bilateral difference ratio)=(numerical value of the leftleg)/(numerical value of the right leg)×100(%)

The numerical value denotes either one of the running pitch, the stride,the grounding time, the impact time, the brake amount, the propulsion,the landing-below-COG ratio, the propulsive efficiency, the velocity,the acceleration, the moving distance, the forward tilt angle, the flowof leg, the rotation angle of the waist, rotational angular velocity ofthe waist, a horizontal tilt amount, the impact time, the runningability, the energy consumption, the energy loss, the energy efficiency,the landing impact, and the load on body. Further, the bilateraldifference ratio includes the average value and the dispersion of eachof the numerical values.

1-3-9. Procedure of Process

FIG. 14 is a flowchart showing an example of a procedure of the exerciseanalysis process performed by the processing section 20. The processingsection 20 executes the exercise analysis program 300 stored in thestorage section 30 to thereby execute the exercise analysis processunder the procedure of, for example, the flowchart shown in FIG. 14.

As shown in FIG. 14, the processing section 20 waits (N in S10) untilthe command of starting the measurement is received, and in the case inwhich the command of starting the measurement has been received (Y inS10), the processing section 20 firstly calculates (S20) an initialattitude, an initial position, and an initial bias using the sensingdata and the GPS data measured by the inertial measurement unit 10assuming that the user is in the rest state.

Then, the processing section 20 obtains (S30) the sensing data from theinertial measurement unit 10, and then adds the sensing data thusobtained to the sensing data table 310.

Then, the processing section 20 performs the inertial navigationcalculation process (S40) to generate the calculation data including avariety of types of information. An example of the procedure of theinertial navigation calculation process will be described later.

Then, the processing section 20 performs the exercise analysisinformation generation process (S50) using the calculation datagenerated in S40 to generate the exercise analysis information. Anexample of the procedure of the exercise analysis information generationprocess will be described later.

Then, the processing section 20 generates the in-running outputinformation using the exercise analysis information generated in S40 totransmit (S60) the in-running output information to the notificationdevice 3.

Then, the processing section 20 repeats the process corresponding to S30and the subsequent steps every time the sampling period Δt elapses afterobtaining the sensing data last time (Y in S70) until the command ofstopping the measurement is received (N in S70 and N in S80).

When the processing section 20 has received the command of stopping themeasurement (Y in S80), the processing section 20 generates the runningresult information using the exercise analysis information generated inS50 to transmit (S90) the running result information to the notificationdevice 3, and then terminates the exercise analysis process.

FIG. 15 is a flowchart showing an example of a procedure of the inertialnavigation calculation process (the process of S40 shown in FIG. 14).The processing section 20 (the inertial navigation calculation section22) executes the inertial navigation calculation program 302 stored inthe storage section 30 to thereby execute the inertial navigationcalculation process under the procedure of, for example, the flowchartshown in FIG. 15.

As shown in FIG. 15, the processing section 20 firstly eliminates (S100)the bias from the acceleration and the angular velocity included in thesensing data obtained in S30 shown in FIG. 14 to thereby correct theacceleration and the angular velocity using the initial bias calculatedin S20 shown in FIG. 14 (using the acceleration bias b_(a) and theangular velocity bias b_(ω) after estimating the acceleration bias b_(a)and the angular velocity bias b_(ω) in S150 described later), and thenupdates the sensing data table 310 with the acceleration and the angularvelocity thus corrected.

Then, the processing section 20 integrates the sensing data corrected inS100 to calculate (S110) the velocity and the attitude angle, and thenadds the calculation data including the velocity and the attitude anglethus calculated to the calculation data table 340.

Then, the processing section 20 performs (S120) the running detectionprocess. An example of the running detection process will be describedlater.

Then, in the case in which the processing section 20 has detected therunning period using the running detection process (S120) (Y in S130),the processing section 20 calculates (S140) the running pitches and thestrides. Further, in the case in which the processing section 20 failsto detect the running period (N in S130), the processing section 20 doesnot perform the process in S140.

Then, the processing section 20 performs the error estimation process toestimate (S150) the velocity error δv^(e), the attitude angle errorε^(e), the acceleration bias b_(a), the angular velocity bias b_(ω), andthe position error δp^(e).

Then, the processing section 20 corrects (S160) the velocity, theposition, and the attitude angle using the velocity error δv^(e), theattitude angle error ε^(e), and the position error δp^(e), respectively,and then updates the calculation data table 340 with the velocity, theposition, and the attitude angle thus corrected. Further, the processingsection 20 integrates the velocity corrected in S160 to calculate (S170)the distance in the e-frame.

Then, the processing section 20 performs the coordinate transformation(S180) on the sensing data (the acceleration and the angular velocity inthe b-frame) stored in the sensing data table 310, the calculation data(the velocity, the position, and the attitude angle in the e-frame)stored in the calculation data table 340, and the distance in thee-frame calculated in S170 into the acceleration, the angular velocity,the velocity, the position, the attitude angle, and the distance in them-frame, respectively.

Then, the processing section 20 generates (S190) the calculation dataincluding the acceleration, the angular velocity, the velocity, theposition, the attitude angle, and the distance, on which the coordinatetransformation has been performed in S180, and the strides and therunning pitches calculated in S140. The processing section 20 performsthe inertial navigation calculation process (the process correspondingto S100 through S190) every time the sensing data is obtained in S30shown in FIG. 14.

FIG. 16 is a flowchart showing an example of a procedure of the runningdetection process (the process of S120 shown in FIG. 15). The processingsection 20 (the running detection section 242) executes the runningdetection process under the procedure of, for example, the flowchartshown in FIG. 16.

As shown in FIG. 16, the processing section 20 performs the low-passfilter process (S200) on the z-axis acceleration included in theacceleration corrected in S100 shown in FIG. 15 to remove the noise.

Then, in the case in which the z-axis acceleration, on which thelow-pass filter process has been performed in S200, is equal to orhigher than a threshold value and takes a local maximum value (Y inS210), the processing section 20 detects (S220) the running period atthis timing.

Then, the processing section 20 determines whether the running perioddetected in S220 is the right running period or the left running period,then sets (S230) the right/left foot flag, and then terminates therunning detection process. If the z-axis acceleration is lower than thethreshold value or the z-axis acceleration does not take a local maximumvalue (N in S210), the processing section 20 terminates the runningdetection process without performing the process corresponding to S220and subsequent steps.

FIG. 17 is a flowchart showing an example of a procedure of the exerciseanalysis information generation process (the process of S50 shown inFIG. 14). The processing section 20 (the exercise analysis section 24)executes the exercise analysis information generation program 304 storedin the storage section 30 to thereby execute the exercise analysisinformation generation process under the procedure of, for example, theflowchart shown in FIG. 17.

As shown in FIG. 17, firstly, the processing section 20 calculates(S300) the items of the basic information using the calculation datagenerated in the inertial navigation calculation process in S40 shown inFIG. 14.

Then, the processing section 20 performs the detection process (S310) ofthe feature points (landing, treading-in, separating from the ground,and so on) in the running exercise of the user using the calculationdata.

In the case in which the processing section 20 has detected the featurepoints in the process of S310 (Y in S320), the processing section 20calculates (S330) the grounding time and the impact time based on thetiming at which the feature points are detected. Further, the processingsection 20 calculates (S340) some of the items of the first analysisinformation (the items which require the information of the featurepoints in order to calculate the items) based on the timing at which thefeature points are detected using some of the calculation data, and thegrounding time and the impact time generated in S330. In the case inwhich the processing section 20 has failed to detect the feature pointsin the process of S310 (N in S320), the processing section 20 does notperform the process in S330 and S340.

Then, the processing section 20 calculates (S350) the rest of the items(which do not require the information of the feature points in order tocalculate the items) of the first analysis information using the inputinformation.

Then, the processing section 20 calculates (S360) the items of thesecond analysis information using the first analysis information.

Then, the processing section 20 calculates (S370) the bilateraldifference ratio with respect to each of the items of the inputinformation, the items of the first analysis information, and the itemsof the second analysis information.

The processing section 20 stores (S380) the information calculated inS300 through S370 attached with the current measurement time in thestorage section 30, and then terminates the exercise analysisinformation generation process.

1-4. Notification Device 1-4-1. Configuration of Notification Device

FIG. 18 is a functional block diagram showing a configuration example ofthe notification device 3. As shown in FIG. 18, the notification device3 is configured including a GPS unit 110, a processing section 120, astorage section 130, a communication section 140, an operation section150, a timer section 160, a display section 170, a sound output section180, and a vibratory section 190. It should be noted that it is alsopossible for the notification device 3 according to the presentembodiment to have a configuration obtained by eliminating or modifyingsome of these constituents, or adding other constituents.

The GPS unit 110 receives GPS satellite signals transmitted from GPSsatellites as a kind of positioning satellites, then performspositioning calculation using the GPS satellite signals to calculate theposition and the velocity (a vector including the size and thedirection) of the user in the n-frame, and then outputs the GPS data,which is obtained by adding the time information and positioningaccuracy information to the position and the velocity, to the processingsection 120. It should be noted that since a method of calculating theposition and the velocity, and a method of generating the timeinformation using the GPS are known to the public, the detailedexplanation will be omitted.

The communication section 140 is for performing data communication withthe communication section 40 (see FIG. 3) of the exercise analysisdevice 2, and performs a process of receiving the command (e.g., thecommand of starting/stopping the measurement) corresponding to theoperation data from the processing section 120 and then transmitting thecommand to the communication section 40 of the exercise analysis device2, a process of receiving the in-running output information and therunning result information having been transmitted from thecommunication section 40 of the exercise analysis device 2, and thentransmitting the information thus received to the processing section120, and so on.

The operation section 150 performs a process of obtaining the operationdata (e.g., operation data of starting/stopping the measurement,operation data of inputting the target values of the respective exerciseindexes, and operation data of selecting the exercise indexes to be thenotification target) from the user, and then transmitting the operationdata to the processing section 120. The operation section 150 can alsobe, for example, a touch panel display, a button, a key, and amicrophone.

The timer section 160 performs a process of generating the timeinformation such as year, month, day, hour, minute, or second. The timersection 160 is implemented by, for example, a real-time clock (RTC) IC.

The display section 170 (an example of an output section) is foroutputting image data and text data having been transmitted from theprocessing section 120 as a character, a graph, a table, animation, orother images to display such images. The display section 170 isimplemented by a display such as a liquid crystal display (LCD), anorganic electroluminescence (EL) display, or an electrophoretic display(EPD), and can also be a touch panel display. It should be noted that itis also possible to arrange that the functions of the operation section150 and the display section 170 are implemented by a single touch paneldisplay.

The sound output section 180 (an example of the output section) is foroutputting the sound data having been transmitted from the processingsection 120 as a sound such as a voice or a buzzer sound. The soundoutput section 180 is implemented by, for example, a speaker or abuzzer.

The vibratory section 190 (an example of the output section) vibrates inaccordance with the vibration data transmitted from the processingsection 120. The vibration propagates to the notification device 3, andthe user wearing the notification device 3 can sense the vibration. Thevibratory section 190 is implemented by, for example, a vibration motor.

The storage section 130 is formed of, for example, a recording mediumfor storing programs and data such as a ROM, a flash ROM, a hard diskdrive, or a memory card, and a RAM forming a work area of the processingsection 120. The storage section 130 (either of the recording media)stores a notification program 132, which is read out by the processingsection 120, and is used for executing the notification process (seeFIG. 23).

Further, the storage section 130 stores a notification control table134. The notification control table 134 is information for defining themaximum value of the difference between the calculation value by theexercise analysis device 2 and the target value set in the notificationdevice 3, and a notification pattern with respect to each of theexercise indexes. FIG. 19 is a diagram showing a configuration exampleof the notification control table 134 in the first embodiment. In theexample shown in FIG. 19, regarding the landing-below-COG, the maximumvalue of the difference between the calculation value and the targetvalue is defined as “50 cm,” the notification pattern is defined as “afirst sound” and “a first vibration.” Further, regarding the propulsiveefficiency, the maximum value of the difference between the calculationvalue and the target value is defined as “5 degrees,” the notificationpattern is defined as “a second sound” and “a second vibration.”Further, regarding the grounding time, the maximum value of thedifference between the calculation value and the target value is definedas “100 ms,” the notification pattern is defined as “a third sound” and“a third vibration.” Further, regarding the forward tilt angle, themaximum value of the difference between the calculation value and thetarget value is defined as “5 degrees,” the notification pattern isdefined as “a fourth sound” and “a fourth vibration.”

The “first sound,” the “second sound,” the “third sound,” the “fourthsound,” . . . are sounds, which are output by the sound output section180, different from each other, and can be distinguished from each otherby the user. It is also possible for the sounds to be different in themusical scale from each other in such a manner that, for example, the“first sound” is a sound of “C” in the scale, the “second sound” is asound of “E” in the scale, the “third sound” is a sound of “G” in thescale, and the “fourth sound” is a sound of “B” in the scale. Further,it is also possible for the sounds to be different in melody from eachother in such a manner that, for example, the “first sound” has a firstmelody, the “second sound” has a second melody, the “third sound” has athird melody, and the “fourth sound” has a fourth melody. Further, it isalso possible for the sounds to be different from each other in thenumber of times of output of a sound in such a manner that, for example,a sound such as a blip is output once as the “first sound,” a sound suchas a blip is output twice as the “second sound,” a sound such as a blipis output three times as the “third sound,” a sound such as a blip isoutput four times as the “fourth sound.” Further, it is also possiblefor the sounds to be different in pattern from each other in such amanner that, for example, the “first sound” has a first sound pattern,the “second sound” has a second sound pattern, the “third sound” has athird sound pattern, and the “fourth sound” has a fourth sound pattern.

Similarly, the “first vibration,” the “second vibration,” the “thirdvibration,” the “fourth vibration,” . . . are vibrations, which aregenerated and then output by the vibratory section 190, different fromeach other, and can be distinguished from each other by the user. Forexample, it is also possible for the “first vibration,” the “secondvibration,” the “third vibration,” and the “fourth vibration” to haverespective vibration patterns different from each other in the frequencyor the length. Further, it is also possible for the vibrations to bedifferent from each other in the number of times of generation of avibration in such a manner that, for example, a short vibration isgenerated once as the “first vibration,” a short vibration is generatedtwice as the “second vibration,” a short vibration is generated threetimes as the “third vibration,” and a short vibration is generated fourtimes as the “fourth vibration.”

Further, it is also possible for a speed-target value table 136 to bestored in the storage section 30. The speed-target value table 136 isthe information (an example of the correspondence information betweenthe target values of the respective indexes and the velocity of the userdetermined in advance) for defining the correspondence relationshipbetween the target values of the respective exercise indexes and therunning speed of the user. FIG. 20 is a diagram showing a configurationexample of the speed-target value table 136 in the first embodiment. Inthe example shown in FIG. 20, in the case in which the running speed is5 m/s, the target value of the landing-below-COG is defined as 35 cm,the target value of the propulsive efficiency is defined as 10 degrees,the target value of the grounding time is defined as 100 ms, the targetvalue of the forward tilt angle is defined as 8 degrees, and so on.Further, in the case in which the running speed is 4 m/s, the targetvalue of the landing-below-COG is defined as 30 cm, the target value ofthe propulsive efficiency is defined as 11 degrees, the target value ofthe grounding time is defined as 150 ms, the target value of the forwardtilt angle is defined as 7 degrees, and so on. Further, in the case inwhich the running speed is 3 m/s, the target value of thelanding-below-COG is defined as 25 cm, the target value of thepropulsive efficiency is defined as 12 degrees, the target value of thegrounding time is defined as 200 ms, the target value of the forwardtilt angle is defined as 6 degrees, and so on. Further, in the case inwhich the running speed is 2 m/s, the target value of thelanding-below-COG is defined as 20 cm, the target value of thepropulsive efficiency is defined as 13 degrees, the target value of thegrounding time is defined as 250 ms, the target value of the forwardtilt angle is defined as 5 degrees, and so on. In other words, in theexample shown in FIG. 20, appropriate target values are defined withrespect to the respective exercise indexes for each of the values of therunning speed in such a manner that the higher the running speed of theuser is, the higher the target value of the landing-below-COG and thetarget value of the forward tilt angle become, and the lower the targetvalue of the propulsive efficiency and the target value of the groundingtime become.

The processing section 120 is formed of, for example, a CPU, a DSP, anASIC, and so on, and executes programs stored in the storage section 130(recording medium) to thereby perform a variety of calculation processesand control processes. For example, the processing section 120 performsa variety of processes (a process of transmitting the command ofstarting/stopping the measurement to the communication section 140, aprocess of setting the target values of the respective exercise indexescorresponding to the operation data, a process of selecting the exerciseindex as the notification target, and so on) corresponding to theoperation data received from the operation section 150, and a process ofreceiving the in-running output information from the communicationsection 140, performing a variety of calculation processes on the values(the calculation values) of the respective exercise indexes to generatethe notification information such as sound data or vibration data, andthen transmitting the sound data or the vibration data to the soundoutput section 180 and the vibratory section 190, respectively. Further,the processing section 120 performs a process of receiving the runningresult information from the communication section 140, then generatingthe notification information such as text data corresponding to therunning result information, and then transmitting the notificationinformation to the display section 170. Further, the processing section120 performs a process of generating time image data corresponding tothe time information received from the timer section 160, and thentransmitting the time image data to the display section 170, and so on.

1-4-2. Functional Configuration of Processing Section

FIG. 21 is a functional block diagram showing a configuration example ofthe processing section 120 of the notification device 3 according to thefirst embodiment. In the present embodiment, the processing section 120executes the notification program 132 stored in the storage section 130to thereby function as a target value setting section 400, a differencecalculation control section 410, a difference calculation section 420, anormalization section 430, an index selection section 440, and anotification control section 450. It should be noted that it is alsopossible for the processing section 120 to receive the notificationprogram 132 stored in an arbitrary storage device (recording medium) viaa network or the like, and then execute the notification program 132.

The target value setting section 400 performs a process of setting thetarget values of the respective exercise indexes. It is also possiblefor the target value setting section 400 to obtain and then set thetarget values of the respective exercise indexes included in, forexample, the operation data. For example, it is possible for the user tooperate the operation section 150 to set the target values based on thevalues of the respective exercise indexes in the past running of theuser, to set the target values based on the average values or the likeof the respective exercise indexes of other members belonging to thesame running team, to set the values of the respective exercise indexesof a yearning runner or a target runner to the target values, or to setthe values of the respective exercise indexes of another user who clearsa target time to the target values.

Alternatively, it is also possible for the target value setting section400 to set the target value corresponding to the running speed of theuser with respect to each of the indexes using the speed-target valuetable 136. It is also possible for the target value setting section 400to use, for example, the speed included in the GPS data calculated bythe GPS unit 110, or the running speed included in the in-running outputinformation, as the running speed of the user. In the case in which, forexample, the target value setting section 400 uses the speed-targetvalue table 136 shown in FIG. 20, if the running speed of the user is 4m/s, the target value setting section 400 sets the target value of thelanding-below-COG to 30 cm, the target value of the propulsiveefficiency to 11 degrees, the target value of the grounding time to 150ms, and the target value of the forward tilt angle to 7 degrees.Further, if the running speed of the user is 3.5 m/s, the target valuesetting section 400 performs linear interpolation or the like using thetarget values at 3 m/s and the target values at 4 m/s to set the targetvalue of the landing-below-COG to 27.5 cm, the target value of thepropulsive efficiency to 11.5 degree, the target value of the groundingtime to 175 ms, and the target value of the forward tilt angle to 6.5degree.

The difference calculation control section 410 individually controlswhether or not the calculation of the difference between the value(calculation value) of each of the exercise indexes and thecorresponding target value by the difference calculation section 420 isperformed. For example, it is also possible that the user operates theoperation section 150 to select the exercise index on which thedifference calculation is performed (or is not performed), then thedifference calculation control section 410 obtains the operation datacorresponding to this operation to control ON/OFF of the differencecalculation between the values of the exercise indexes and therespective target values in accordance with the operation data.

The difference calculation section 420 performs a process of calculatingthe differences between the index values of the exercise indexescalculated by analyzing the exercise of the user using the inertialmeasurement unit 10 and the target values set respectively to theexercise indexes. In the present embodiment, the difference calculationsection 420 performs a process of calculating a difference between thecalculation value (a value calculated by the exercise analysis device 2analyzing the exercise of the user using the measurement data of theinertial measurement unit 10) included in the in-running outputinformation and the target value set by the target value setting section400 with respect to each of the exercise indexes. Specifically, thedifference calculation section 420 is configured including a pluralityof difference calculation sections for calculating the differencebetween the calculation value and the target value with respect to eachof the exercise indexes such as a landing-below-COG differencecalculation section 421, a propulsive efficiency difference calculationsection 422, a grounding time difference calculation section 423, and aforward tilt angle difference calculation section 424, and under thecontrol of the difference calculation control section 410, each of thedifference calculation sections outputs the difference ((calculationvalue)−(target value)) between the calculation value and the targetvalue in the ON state, and outputs a special value (e.g., a practicallyinconceivable large value) representing the fact that the differencecalculation has not been performed in the OFF state without performingthe difference calculation.

The normalization section 430 performs a process of normalizing thedifference with respect to each of the exercise indexes output by thedifference calculation section 420. Specifically, the normalizationsection 430 is configured including a plurality of normalizationsections for normalizing the calculation value of the difference withrespect to each of the exercise indexes such as a landing-below-COGnormalization section 431, a propulsive efficiency normalization section432, a grounding time normalization section 433, and a forward tiltangle normalization section 434, and each of the normalization sectionsnormalizes the calculation value of the difference into a value between0 and 1 by modifying the calculation value of the difference into 0 ifthe calculation value of the difference with respect to each of theexercise indexes is equal to or lower than 0, modifying the calculationvalue of the difference into 1 if the calculation value of thedifference is equal to or higher than the maximum value defined in thenotification control table 134, and modifying the calculation value ofthe difference into (calculation value of the difference)/(maximum valueof the difference) if the calculation value of the difference is a valuebetween 0 and the maximum value, and then outputs the result. Further,in the case in which each of the difference calculation sections outputsthe special value representing the fact that the difference calculationsection has not performed the difference calculation, each of thenormalization sections outputs a negative value or a value greater than1.

The index selection section 440 perform a process of selecting someexercise indexes out of the plurality of exercise indexes based on thedifferences with respect to the respective indexes. Specifically, theindex selection section 440 selects some of the exercise indexes basedon the value of the normalized difference between the calculation valueand the target value with respect to each of the exercise indexes outputby the normalization section 430.

For example, it is also possible for the index selection section 440 toselect exercise indexes larger in the difference from the target valuethan other exercise indexes as the some of the exercise indexes. It isalso possible for the index selection section 440 to select, forexample, a predetermined number of exercise indexes having the largestnormalized difference values out of the exercise indexes having thenormalized difference values within a range between 0 and 1. Further, itis also possible for the index selection section 440 to select, forexample, only the exercise index having the normalized difference valuethe closest to 1 (only the worst exercise index), or to select top twoor three exercise indexes having the normalized difference value closestto 1 (the worst two or three exercise indexes). Further, it is alsopossible for the index selection section 440 to select no exercise indexin the case in which all of the difference values, which have beennormalized into the range between 0 and 1, are smaller than a thresholdvalue (e.g., 0.3) (no relatively bad exercise index exists).

Further, for example, it is also possible for the index selectionsection 440 to select exercise indexes smaller in the difference fromthe target value than other exercise indexes as the some of the exerciseindexes. It is also possible for the index selection section 440 toselect, for example, a predetermined number of exercise indexes havingthe smallest normalized difference values out of the exercise indexeshaving the normalized difference values within the range between 0and 1. Further, it is also possible for the index selection section 440to select, for example, only the exercise index having the normalizeddifference value the closest to 0 (only the best exercise index), or toselect top two or three exercise indexes having the normalizeddifference value closest to 0 (the best two or three exercise indexes).Further, it is also possible for the index selection section 440 toselect no exercise index in the case in which all of the differencevalues, which have been normalized into the range between 0 and 1, arelarger than a threshold value (e.g., 0.7) (no relatively good exerciseindex exists).

The notification control section 450 performs control for making anotification of the some of the exercise indexes selected by the indexselection section 440. Specifically, the notification control section450 generates the notification information for generating the sound orthe vibration, which is defined in the notification control table 134,with respect to each of the exercise indexes selected, and thentransmits the notification information to the sound output section 180or the vibratory section 190. It is possible for the user to run whilerecognizing what exercise index has been selected (what exercise indexis bad (or good)) due to the pattern of the sound or the vibration. Itshould be noted that in the case in which the index selection section440 has selected a plurality of exercise indexes, it is not achievablein reality for the user to distinguish the exercise indexes even if aplurality of vibrations different from each other between the exerciseindexes is generated at the same time, and therefore, it is preferableto output a plurality of sounds different from each other between theexercise indexes at the same time. Further, if the number of soundsoutput at the same time is too large, the user fails to distinguish thesounds. Therefore, it is preferable for the index selection section 440to perform the selection up to a ceiling of two or three exerciseindexes.

Further, it is also possible that the user performs setting of anotification period (e.g., setting of generating a sound or a vibrationfor 5 seconds every minute) via the operation section 150, and thenotification control section 450 generates the notification informationfor generating the sound or the vibration every notification period thusset.

Further, when the notification control section 450 receives the runningresult information, the notification control section 450 generates thenotification information (e.g., text data) for displaying the runningresult information, and then transmits the notification information tothe display section 170. For example, as shown in FIG. 22, thenotification control section 450 in the first embodiment makes thedisplay section 170 display average values of the respective exerciseindexes during running of the user included in the running resultinformation. It is possible for the user to immediately recognizewhether each of the exercise indexes is good or bad by looking at thedisplay section 170 after stopping running (after performing thestopping operation of the measurement).

1-4-3. Procedure of Process

FIG. 23 is a flowchart showing an example of a procedure of thenotification process performed by the processing section 120 of thenotification device 3 according to the first embodiment. The processingsection 120 (an example of a computer) of the notification device 3executes the notification program 132 stored in the storage section 130to thereby execute the notification process under the procedure of, forexample, the flowchart shown in FIG. 23.

As shown in FIG. 23, the processing section 120 first sets (S400) thetarget values of the respective exercise indexes based on the operationdata from the operation section 150.

Then, the processing section 120 waits until the processing section 120obtains the operation data of starting the measurement from theoperation section 150 (N in S410), and in the case in which theprocessing section 120 has received the operation data of starting themeasurement (Y in S410), the processing section 120 transmits (S420) thecommand of starting the measurement to the exercise analysis device 2via the communication section 140.

Then, the processing section 120 calculates (S440) the differencesbetween the values (the calculation values) of the exercise indexesincluded in the in-running output information obtained and therespective target values set in S400 every time the processing section120 obtains the in-running output information from the exercise analysisdevice 2 via the communication section 140 (Y in S430) until theprocessing section 120 obtains the operation data of stopping themeasurement from the operation section 150 (N in S470).

Then, the processing section 120 normalizes (S450) each of thedifference values of the exercise indexes calculated in S440 into arange between 0 and 1.

Then, the processing section 120 selects (S460) the exercise indexes tobe the notification target using the difference values thus normalizedwith respect to the respective exercise indexes, generates thenotification information for making the notification of the exerciseindexes thus selected to perform the notification (S470) via the soundoutput section 180 or the vibratory section 190.

Then, when the processing section 120 obtains the operation data ofstopping the measurement from the operation section 150 (Y in S480), theprocessing section 120 obtains the running result information from theexercise analysis device 2 via the communication section 140 to make thedisplay section 170 display (S490) the running result information, andthen terminates the notification process.

As described above, it is possible for the user to run while recognizingthe running state based on the information, which the user is notifiedof in S470. Further, it is possible for the user to recognize therunning result immediately after stopping running based on theinformation displayed in S490.

It should be noted that in the flowchart shown in FIG. 23, since theprocessing section 120 sets the target values of the respective exerciseindexes in S400 based on the operation data from the operation section150, it is suitable for the case in which it is not required to changethe target values of the respective exercise indexes during running ofthe user (e.g., the case in which the user runs at a roughly constantspeed). In contrast, in the case in which the running speed of the userchanges dramatically (e.g., the case in which the user runs on a roadhaving a lot of ups and downs), it is also possible to modify theflowchart shown in FIG. 23 so that the processing section 120 obtainsthe running speed of the user to set the target values corresponding tothe running speed using the speed-target value table 136 as describedabove.

1-5. Advantages

In the first embodiment, since the inertial measurement unit 10 iscapable of detecting fine movement of the user with the triaxialacceleration sensor 12 and the triaxial angular velocity sensor 14, itis possible for the exercise analysis device 2 to perform the inertialnavigation calculation using the detection result of the inertialmeasurement unit 10 during running of the user, and then accuratelycalculate the values of the variety of types of exercise indexes relatedto the running ability using the result of the inertial navigationcalculation. Then, the notification device 3 selects some relatively bad(or good) exercise indexes based on the differences between the valuesof the variety of types of exercise indexes calculated by the exerciseanalysis device 2 and the respective target values, and then makes thenotification of the some exercise indexes. Therefore, according to thefirst embodiment, since the user can run while recognizing therelatively bad (or good) exercise indexes, it is possible for the userto efficiently improve the running ability.

In particular, in the first embodiment, the notification device 3normalizes the differences between the values of the variety of types ofexercise indexes and the respective target values, and then selects apredetermined number of exercise indexes having the highest (or lowest)normalized difference values to make the notification. Therefore,according to the first embodiment, since it is possible for thenotification device to select the predetermined number of relatively bad(or good) exercise indexes under the fair conditions to make thenotification, it is possible to reduce the possibility that anotification of specific exercise indexes becomes apt to be madeirrespective of the running state of the user.

Further, in the first embodiment, the notification device 3 does notmake a notification of any exercise indexes in the case in which all ofthe normalized differences with respect to the respective exerciseindexes are smaller (or larger) than a threshold value. Therefore,according to the first embodiment, it is possible for the user todetermine that the running state is good (or bad) when no notificationof any exercise indexes is made, and physically experience the goodrunning state (or the bad running state).

Further, in the first embodiment, the notification device 3 makes thenotification of the exercise indexes using the sounds or the vibrationsdifferent from each other between the exercise indexes. Therefore,according to the first embodiment, since the user can recognize therelatively bad (or good) exercise indexes while keeping the eyes forwardand concentrating on running, it is possible for the user to efficientlyimprove the running ability.

Further, according to the first embodiment, since the notificationdevice 3 displays the information such as the average values of therespective exercise indexes during running after stopping running of theuser (after the user performs the operation of stopping themeasurement), it is possible for the user to immediately recognize howmuch the exercise index, to which the user has paid attention, has beenimproved, or whether or not there is any exercise index, to which theuser has not paid attention, but which has been bad (or good) inaverage.

2. Second Embodiment

In a second embodiment, constituents substantially the same as those inthe first embodiment will be denoted by the same reference symbols, andthe explanation thereof will be omitted or simplified, and the contentsdifferent from those of the first embodiment will be explained indetail.

2-1. Configuration of Exercise Analysis System

Although the explanation will hereinafter be presented citing anexercise analysis system for analyzing the exercise in running(including walking) of the user as an example, the exercise analysissystem according to the second embodiment can also be applied to anexercise analysis system for analyzing an exercise other than running ina similar manner. Since the configuration example of the exerciseanalysis system 1 according to the second embodiment is substantiallythe same as that in the first embodiment (FIG. 1), the graphicaldescription thereof will be omitted. The exercise analysis system 1according to the second embodiment is also configured including theexercise analysis device 2 and the notification device 3 similarly tothe first embodiment (FIG. 1). Similarly to the first embodiment, theexercise analysis device 2 is a device for analyzing the exercise duringrunning of the user, and the notification device 3 is a device fornotifying the user of information of a state of the exercise duringrunning of the user and a running result. As shown in FIG. 2, similarlyto the first embodiment, also in the second embodiment, the exerciseanalysis device 2 incorporates an inertial measurement unit (IMU) 10,and is attached to the body portion (e.g., right waist, left waist, orcentral portion of the waist) of the user so that one of the detectionaxes (hereinafter referred to as the z axis) of the inertial measurementunit (IMU) 10 roughly coincides with a gravitational accelerationdirection (vertically downward direction) in the state in which the useris in the rest state. Further, similarly to the first embodiment, thenotification device 3 is a wrist-type (wristwatch-type) portableinformation apparatus, and is attached to the wrist or the like of theuser. It should be noted that the notification device 3 can also be aportable information apparatus such as a head mount display (HMD) or asmartphone.

Similarly to the first embodiment, the user operates the notificationdevice 3 when starting running to instruct start of the measurement (theinertial navigation calculation process and the exercise analysisprocess) by the exercise analysis device 2, and then operates thenotification device 3 when stopping running to instruct stop of themeasurement by the exercise analysis device 2. The notification device 3transmits the command for instructing start or stop of the measurementto the exercise analysis device 2 in accordance with the operation bythe user.

Similarly to the first embodiment, when the exercise analysis device 2receives the command of starting the measurement, the exercise analysisdevice 2 starts the measurement by the inertial measurement unit (IMU)10, calculates the values of the variety of exercise indexes, which areindexes related to a running ability (an example of athletic abilities)of the user using the measurement result, and generates the exerciseanalysis information including the values of the variety of exerciseindexes as the information of the analysis result of the runningexercise of the user. The exercise analysis device 2 generates theinformation (the in-running output information) output during running ofthe user using the exercise analysis information thus generated, andthen transmits the in-running output information to the notificationdevice 3. Further, in the second embodiment, the notification device 3receives the in-running output information from the exercise analysisdevice 2, compares the values of the variety of exercise indexesincluded in the in-running output information with the respective targetvalues set in advance, and then displays the information regardingwhether each of the exercise indexes is good or bad. Thus, it ispossible for the user to run while recognizing whether each of theexercise indexes is good or bad.

Further, in the second embodiment, the notification device 3periodically outputs a specific type of sound or vibration in accordancewith the target values of the time during which one of the feet isgrounded (a period from landing to the separation from the ground), andthe time (flying time) during which the both feet are separated from theground. By repeating the landing and the separation from the ground inaccordance with the sound or the vibration, it is possible for the userto realize running having an ideal grounding time and an ideal flyingtime.

Further, similarly to the first embodiment, when the exercise analysisdevice 2 receives the command of stopping the measurement, the exerciseanalysis device 2 stops the measurement by the inertial measurement unit(IMU) 10, then generates the information (the running resultinformation: the running distance, the running speed) of the runningresult of the user, and then transmits the running result information tothe notification device 3. The notification device 3 receives therunning result information from the exercise analysis device 2, and thennotifies the user of the information of the running result as charactersor images. Thus, it is possible for the user to recognize theinformation of the running result immediately after stopping running.Alternatively, it is also possible for the notification device 3 togenerate the running result information based on the in-running outputinformation, and then notify the user as the characters or the images.

It should be noted that the data communication between the exerciseanalysis device 2 and the notification device 3 can be wirelesscommunication or wired communication.

2-2. Coordinate System

The coordinate systems to be necessary in the following explanation aredefined similarly to “1-2. Coordinate System” in the description of thefirst embodiment.

2-3. Exercise Analysis Device 2-3-1. Configuration of Exercise AnalysisDevice

Since the configuration example of the exercise analysis device 2 in thesecond embodiment is substantially the same as that in the firstembodiment (FIG. 3), the graphical description thereof will be omitted.In the exercise analysis device 2 in the second embodiment, since thefunctions of the inertial measurement unit (IMU) 10, the processingsection 20, the storage section 30, the communication section 40, theGPS unit 50, and the geomagnetic sensor 60 are substantially the same asthose in the first embodiment, the explanation thereof will be omitted.

2-3-2. Functional Configuration of Processing Section

Since the configuration example of the processing section 20 of theexercise analysis device 2 in the second embodiment is substantially thesame as that in the first embodiment (FIG. 8), the graphical descriptionthereof will be omitted. Also in the second embodiment, similarly to thefirst embodiment, the processing section 20 executes the exerciseanalysis program 300 stored in the storage section 30 to therebyfunction as the inertial navigation calculation section 22 and theexercise analysis section 24. Since the functions of the inertialnavigation calculation section 22 and the exercise analysis section 24are substantially the same as those in the first embodiment, theexplanation thereof will be omitted.

2-3-3. Functional Configuration of Inertial Navigation CalculationSection

Since the configuration example of the inertial navigation calculationsection 22 in the second embodiment is substantially the same as that inthe first embodiment (FIG. 9), the graphical description thereof will beomitted. Also in the second embodiment, similarly to the firstembodiment, the inertial navigation calculation section 22 includes thebias elimination section 210, the integral processing section 220, theerror estimation section 230, the running processing section 240, andthe coordinate transformation section 250, and since the functions ofthese constituents are substantially the same as those in the firstembodiment, the explanation thereof will be omitted.

2-3-4. Functional Configuration of Exercise Analysis Section

Since the configuration example of the exercise analysis section 24 inthe second embodiment is substantially the same as that in the firstembodiment (FIG. 13), the graphical description thereof will be omitted.Also in the second embodiment, similarly to the first embodiment, theinertial navigation calculation section 24 includes the feature pointdetection section 260, the grounding time/impact time calculationsection 262, the basic information generation section 272, the firstanalysis information generation section 274, the second analysisinformation generation section 276, the bilateral difference ratiocalculation section 278, and an output information generation section280, and since the functions of these constituents are substantially thesame as those in the first embodiment, the explanation thereof will beomitted.

2-3-5. Input Information

Since the details of the items of the input information are explained in“1-3-5. Input Information” in the description of the first embodiment,the explanation thereof will be omitted here.

2-3-6. Second Analysis Information

Since the details of the items of the second analysis informationcalculated by the second analysis information generation section 276 areexplained in “1-3-7. Second Analysis Information” in the description ofthe first embodiment, the explanation thereof will be omitted here.

2-3-7. Bilateral Difference Ratio (Balance Between Both Sides)

Since the details of the bilateral difference ratio calculated by thebilateral difference ratio calculation section 278 are explained in“1-3-8. Bilateral Difference Ratio (Balance Between Both Sides)” in thedescription of the first embodiment, the explanation thereof will beomitted here.

2-3-8. Procedure of Process

Since the flowchart showing an example of the procedure of the exerciseanalysis process performed by the processing section 20 in the secondembodiment is substantially the same as that in the first embodiment(FIG. 14), the graphical description and the explanation thereof will beomitted.

Further, since the flowchart showing an example of the procedure of theinertial navigation calculation process (the process in S40 shown inFIG. 14) in the second embodiment is also substantially the same as thatin the first embodiment (FIG. 15), the graphical description and theexplanation thereof will be omitted.

Further, since the flowchart showing an example of the procedure of therunning detection process (the process in S120 shown in FIG. 15) in thesecond embodiment is also substantially the same as that in the firstembodiment (FIG. 16), the graphical description and the explanationthereof will be omitted.

Further, since the flowchart showing an example of the procedure of theexercise analysis information generation process (the process in S50shown in FIG. 14) in the second embodiment is also substantially thesame as that in the first embodiment (FIG. 17), the graphicaldescription and the explanation thereof will be omitted.

2-4. Notification Device 2-4-1. Configuration of Notification Device

Since the configuration example of the notification device 3 accordingto the second embodiment is substantially the same as that in the firstembodiment (FIG. 18), the graphical description thereof will be omitted.In the notification device 3 according to the second embodiment, sincethe functions of the GPS unit 110, the communication section 140, theoperation section 150, and the timer section 160 are substantially thesame as those in the first embodiment, the explanation thereof will beomitted.

The display section 170 (an example of an output section) is foroutputting image data and text data having been transmitted from theprocessing section 120 as a character, a graph, a table, animation, orother images to display such images. The display section 170 isimplemented by a display such as an LCD, an organic EL display, or anEPD, and can also be a touch panel display. It should be noted that itis also possible to arrange that the functions of the operation section150 and the display section 170 are implemented by a single touch paneldisplay.

The sound output section 180 (an example of the output section) is foroutputting the sound information (the sound data) having beentransmitted from the processing section 120 as a sound such as a voiceor a buzzer sound. The sound output section 180 is implemented by, forexample, a speaker or a buzzer.

The vibratory section 190 (an example of the output section) vibrates inaccordance with the vibration information (the vibration data)transmitted from the processing section 120. The vibration propagates tothe notification device 3, and the user wearing the notification device3 can sense the vibration. The vibratory section 190 is implemented by,for example, a vibration motor.

The storage section 130 is formed of, for example, a recording mediumfor storing programs and data such as a ROM, a flash ROM, a hard diskdrive, or a memory card, and a RAM forming a work area of the processingsection 120. The storage section 130 (either of the recording media)stores the notification program 132, which is read out by the processingsection 120, and is used for executing the notification process (seeFIG. 29).

Further, the storage section 30 stores the notification control table134. The notification control table 134 in the second embodiment is theinformation for defining a method of notifying the user of a targetgrounding time (the first period) as a time corresponding to the targetvalue of the grounding time (the time during which one of the feet ofthe user is grounded), and a target flying time (the second period) as atime corresponding to the target value of the flying time (the both feetof the user are separated from the ground). FIG. 24 is a diagram showinga configuration example of the notification control table 134 in thesecond embodiment. In the present embodiment, it is possible for theuser to select either one of four notification modes (a first mode, asecond mode, a third mode, and a fourth mode), and in the example shownin FIG. 24, it is defined in the notification control table 134 that inthe first mode, the notification of the target grounding time is madeusing the “first sound” or the “first vibration” (a first notificationmedium), and the notification of the target flying time is not made.Further, in the second mode, it is defined that the notification of thetarget flying time is made using the “second sound” or the “secondvibration” (a second notification medium), and the notification of thetarget grounding time is not made. Further, in the third mode, it isdefined that the notification of the target grounding time is made usingthe “first sound” or the “first vibration” (the first notificationmedium), and the notification of the target flying time is made usingthe “second sound” or the “second vibration” (the second notificationmedium). Further, in the fourth mode, it is defined that neither of thenotification of the target grounding time and the notification of thetarget flying time is made.

The “first sound” and the “second sound” are sounds, which are output bythe sound output section 180, different from each other, and can bedistinguished from each other by the user. For example, it is alsopossible for the “first sound” and the “second sound” to be “thwack” and“boing,” respectively, which are sounds easy for the user to call upimages of the grounding state and the flying state. Further, the “firstsound” and the “second sound” can also be different in frequency fromeach other in such a manner that the “first sound” is a sound low infrequency, and the “second sound” is a sound high in frequency. Further,the “first sound” and the “second sound” can also be different in themusic scale from each other in such a manner that the “first sound” is asound of “C” in the scale, and the “second sound” is a sound of “E” inthe scale.

Similarly, the “first vibration” and the “second vibration” arevibrations, which are generated by the vibratory section 190, differentfrom each other, and can be distinguished from each other by the user.For example, the “first vibration” and the “second vibration” can alsobe different in frequency from each other.

Further, it is also possible for a speed-target value table 136 to bestored in the storage section 30. The speed-target value table 136 inthe second embodiment is the information for defining the correspondencerelationship between the running speed of the user, and the targetgrounding time and the target flying time. FIG. 25 is a diagram showinga configuration example of the speed-target value table 136 in thesecond embodiment. In the example shown in FIG. 25, in the case in whichthe running speed is 4 m/s, the target grounding time is defined as 170ms, and the target flying time is defined as 110 ms. Further, in thecase in which the running speed is 3 m/s, the target grounding time isdefined as 190 ms, and the target flying time is defined as 100 ms.Further, in the case in which the running speed is 2 m/s, the targetgrounding time is defined as 210 ms, and the target flying time isdefined as 90 ms. Therefore, in the example shown in FIG. 25, theappropriate target grounding time and the appropriate target flying timeare defined in such a manner that the higher the running speed of theuser is, the shorter the target grounding time becomes, and the longerthe target flying time becomes.

The processing section 120 is formed of, for example, a CPU, a DSP, anASIC, and so on, and executes programs stored in the storage section 130(recording medium) to thereby perform a variety of calculation processesand control processes. For example, the processing section 120 performsa variety of processes (a process of transmitting the command ofstarting/stopping the measurement to the communication section 140, aprocess of setting the target values of the respective exercise indexescorresponding to the operation data, a process of selecting thenotification mode, and so on) corresponding to the operation datareceived from the operation section 150, a process of receiving thein-running output information from the communication section 140,generating the display information (text data) corresponding to thecomparison result between the values of the variety of exercise indexesand the respective target values to transmit the display information tothe display section 170, and a process of generating the soundinformation (the sound data) or the vibration information (the vibrationdata) corresponding to the target grounding time and the target flyingtime to transmit the sound information or the vibration information tothe sound output section 180 or the vibratory section 190. Further, theprocessing section 120 performs a process of generating time image datacorresponding to the time information received from the timer section160, and then transmitting the time image data to the display section170, and so on.

2-4-2. Functional Configuration of Processing Section

FIG. 26 is a functional block diagram showing a configuration example ofthe processing section 120 of the notification device 3 according to thesecond embodiment. In the second embodiment, the processing section 120executes the notification program 132 stored in the storage section 130to thereby function as the target value setting section 400, anotification mode selection section 460, and the notification controlsection 450. It should be noted that it is also possible for theprocessing section 120 to receive the notification program 132 stored inan arbitrary storage device (recording medium) via a network or thelike, and then execute the notification program 132.

The target value setting section 400 performs a process of setting thetarget values of the respective exercise indexes. It is also possiblefor the target value setting section 400 to obtain and then set thetarget values of the respective exercise indexes included in, forexample, the operation data. For example, it is possible for the user tooperate the operation section 150 to set the target values based on thevalues of the respective exercise indexes in the past running of theuser, to set the target values based on the average values or the likeof the respective exercise indexes of other members belonging to thesame running team, to set the values of the respective exercise indexesof a yearning runner or a target runner to the target values, or to setthe values of the respective exercise indexes of another user who clearsa target time to the target values.

Further, the target value setting section 400 performs a process ofsetting the target grounding time (the target value of the groundingtime) and the target flying time (the target value of the flying time)based on predetermined information in running of the user. For example,the predetermined information can also be the information of thegrounding time and the running pitch (values of the grounding time andthe running pitch (the calculation value included in the in-runningoutput information) calculated using the measurement data of theinertial measurement unit). Further, for example, the predeterminedinformation can also be the information of the running speed (the valueof the running speed calculated by the GPS unit 110, or the value of therunning speed (the calculation value included in the in-running outputinformation) calculated using the measurement data of the inertialmeasurement unit).

The notification mode selection section 460 performs the process ofselecting the notification mode based on the control information (e.g.,the operation data from the operation section 150 (an example of theinformation control section)), and then outputs the information of thenotification mode thus selected. It is possible for the notificationmode selection section 460 to select as the notification mode one of thefirst mode of making the notification of the target grounding timewithout making the notification of the target flying time, and thesecond mode of making the notification of the target flying time withoutmaking the notification of the target grounding time. It is alsopossible for the notification mode selection section 460 to furtherselect as the notification mode the third mode of making thenotification of both of the target grounding time and the target flyingtime. It is also possible for the notification mode selection section460 to further select as the notification mode the fourth mode of makingno notification of any of the target grounding time and the targetflying time.

The notification control section 450 includes a sound/vibration controlsection 452 and a display control section 454.

The sound/vibration control section 452 performs the control forperiodically making the notification of at least one of the targetgrounding time and the target flying time using a sound or a vibrationduring running of the user in accordance with the notification modehaving been selected by the notification mode selection section 460.

Specifically, the sound/vibration control section 452 generates thesound information (the sound data) or the vibration information (thevibration data) for generating the sound or the vibration, which isdefined in the notification control table 134 in the target groundingtime and the target flying time with respect to the notification nodethus selected, and then transmits the sound information or the vibrationinformation to the sound output section 180 or the vibratory section190.

In the case in which the first mode has been selected, as shown in FIG.27A, the period of the target grounding time T₁ during which the firstsound or the first vibration is output, and the period of the targetflying time T₂ during which neither of the sound and the vibration isoutput are repeated. Therefore, the user performs running so as toground the right foot or the left foot in sync with the period of thetarget grounding time T₁ during which the sound or the vibration isoutput, and to separate the both feet from the ground in sync with theperiod of the target flying time T₂ during which neither of the soundand the vibration is output.

In the case in which the second mode has been selected, as shown in FIG.27B, the period of the target grounding time T₁ during which neither ofthe sound and the vibration is output, and the period of the targetflying time T₂ during which the second sound or the second vibration isoutput are repeated. Therefore, the user performs running so as toground the right foot or the left foot in sync with the period of thetarget grounding time T₁ during which neither of the sound and thevibration is output, and to separate the both feet from the ground insync with the period of the target flying time T₂ during which the soundor the vibration is output.

In the case in which the third mode has been selected, as shown in FIG.27C, the period of the target grounding time T₁ during which the firstsound or the first vibration is output, and the period of the targetflying time T₂ during which the second sound or the second vibration isoutput are repeated. Therefore, the user performs running so as toground the right foot or the left foot in sync with the period of thetarget grounding time T₁ during which the first sound or the firstvibration is output, and to separate the both feet from the ground insync with the period of the target flying time T₂ during which thesecond sound or the second vibration is output.

In the case in which the fourth mode has been selected, as shown in FIG.27D, neither of the sound and the vibration is output in both of theperiod of the target grounding time T₁ and the period of the targetflying time T₂.

By selecting the first mode, the second mode, or the third mode, andrunning while using the sound or the vibration as guidance, it ispossible for the user to exercise while physically experiencing runningwith an ideal grounding time and an ideal flying time fitting thetarget. It is possible for the user to subsequently select the fourthmode to perform the running exercise without relying on the sound or thevibration while being conscious of the running physically experienced inthe first mode, the second mode, or the third mode.

The display control section 454 performs the control for making thenotification of the running state using display during running of theuser or after stopping running.

Specifically, the display control section 454 obtains the in-runningoutput information during running of the user, then compares the valuesof the respective exercise indexes included in the in-running outputinformation with the respective target values set by the target valuesetting section 400, then generates the display information (e.g., thetext data) related to the exercise indexes worse than the respectivetarget values, and then transmits the display information to the displaysection 170 to make the display section 170 display the displayinformation. It is also possible for the display control section 454 tomake the display section 170 display all of the values of the exerciseindexes worse than the respective target values and the information ofthe target values as shown in, for example, FIG. 28A. It is alsopossible for the user to correctly recognize the differences between theall of the values of the exercise indexes worse than the target valuesand the respective target values by looking at the information displayedon the display section 170.

Further, the display control section 454 obtains the running resultinformation after stopping running of the user, then generates thedisplay information (e.g., the text data) related to the running resultof the user, and then transmits the display information to the displaysection 170 to make the display section 170 display the displayinformation. It is also possible for the display control section 454 tomake the display section 170 display the average values of therespective exercise indexes during running of the user included in therunning result information as shown in, for example, FIG. 28B. It ispossible for the user to immediately recognize whether each of theexercise indexes is good or bad by looking at the display section 170after stopping running (after performing the stopping operation of themeasurement).

2-4-3. Procedure of Process

FIG. 29 is a flowchart showing an example of a procedure of thenotification process performed by the processing section 120 of thenotification device 3 according to the second embodiment. The processingsection 120 (an example of a computer) of the notification device 3executes the notification program 132 stored in the storage section 130to thereby execute the notification process under the procedure of, forexample, the flowchart shown in FIG. 29.

As shown in FIG. 29, the processing section 120 first sets (S400) thetarget values of the respective exercise indexes based on the operationdata from the operation section 150. It is possible for the processingsection 120 to statically set the target grounding time and the targetflying time based on the operation data in S400, or to dynamically setthe target grounding time and the target flying time in a process inS470 described later.

Then, the processing section 120 waits until the processing section 120obtains the operation data of starting the measurement from theoperation section 150 (N in S410), and in the case in which theprocessing section 120 has received the operation data of starting themeasurement (Y in S410), the processing section 120 transmits (S420) thecommand of starting the measurement to the exercise analysis device 2via the communication section 140.

Then, the processing section 120 compares (S440) the values (thecalculation values) of the exercise indexes included in the in-runningoutput information obtained with the respective target values set inS400 every time the processing section 120 obtains the in-running outputinformation from the exercise analysis device 2 via the communicationsection 140 (Y in S430) until the processing section 120 obtains theoperation data of stopping the measurement from the operation section150 (N in S480).

In the case in which the exercise index worse than the target valueexists (Y in S450), the processing section 120 generates the informationof the exercise index worse than the target value, and then notifies(S460) the user using characters and so on via the display section 170.

In contrast, in the case in which the exercise index worse than thetarget value does not exist (N in S450), the processing section 120 doesnot perform the process of S460.

Then, the processing section 120 performs the notification process(S470) of the target grounding time and the target flying time. Anexample of the procedure of the notification process of the targetgrounding time and the target flying time will be described later.

Then, when the processing section 120 obtains the operation data ofstopping the measurement from the operation section 150 (Y in S480), theprocessing section 120 obtains the running result information from theexercise analysis device 2 via the communication section 140 to make thedisplay section 170 display (S490) the running result information, andthen terminates the notification process.

As described above, it is possible for the user to run while recognizingthe running state based on the information, which the user is notifiedof in S460. Further, it is possible for the user to recognize therunning result immediately after stopping running based on theinformation displayed in S490.

As described above, it is possible for the user to run while recognizingthe running state based on the information, which the user is notifiedof in S460. Further, it is possible for the user to run in accordancewith the guidance of the grounding time and the flying time using thesound or the vibration based on the information, which the user isnotified of in S470. Further, it is possible for the user to recognizethe running result immediately after stopping running based on theinformation displayed in S490.

FIG. 30 is a flowchart showing an example of a procedure of thenotification process (the process of S470 shown in FIG. 29) of thetarget grounding time and the target flying time. The processing section120 executes the notification process of the target grounding time andthe target flying time under the procedure of, for example, theflowchart shown in FIG. 30.

Firstly, the processing section 120 determines whether or not the usertakes one step forward using the in-running output information obtainedin S430 shown in FIG. 29, and in the case in which the user has takenone step forward (Y in S500), the processing section 120 obtains (S502)the calculation values of the grounding time and the running pitch (thenumber of steps per minute) included in the in-running outputinformation.

Then, the processing section 120 sets (S506) the target grounding timeT₁ as follows every time the processing section 120 obtains thecalculation values of the grounding time and the running pitchcorresponding to a predetermined number of steps (e.g., 100 steps) (or apredetermined time period (e.g., one minute)) (Y in S504).

(target grounding time T ₁)=(average value (average grounding time) ofthe grounding time corresponding to the predetermined number of steps(or a predetermined time period))×α(α<1)

Further, the processing section 120 sets (S508) the target flying timeT₂ as follows.

(target flying time T ₂)=(reciprocal (average time of one step) of theaverage value of the running pitch corresponding to a predeterminednumber of steps (or a predetermined time period))−T ₁

For example, assuming that the average grounding time is 0.2 second, andthe average time of one step is 0.3 second, the processing section 120sets the target grounding time T₁ and the target flying time T₂ asfollows using α=0.9, for example.

(target grounding time T ₁)=0.2×0.9=0.18 second

(target flying time T ₂)=0.3−0.18=0.12 second

In the case in which the user fails to take one step forward (N inS500), the processing section 120 does not perform the processcorresponding to S500 through S508.

Then, if it is in the period of the target grounding time T₁ (Y inS510), in the case in which the first mode or the third mode has beenselected (Y in S512), the processing section 120 generates theinformation of the first sound or the first vibration defined in thenotification control table 134, and then makes the sound output section180 or the vibratory section 190 make the notification (S514) of thefact that it is in the period of the target grounding time T₁ using thesound or the vibration.

In the case in which neither of the first mode and the third mode hasbeen selected (N in S512), the processing section 120 does not performthe process in S514. Further, it is not in the period of the targetgrounding time T₁ (N in S510), the processing section 120 does notperform the process corresponding to S512 and S514.

Then, if it is in the period of the target flying time T₂ (Y in S516),in the case in which the second mode or the third mode has been selected(Y in S518), the processing section 120 generates the information of thesecond sound or the second vibration defined in the notification controltable 134, and then makes the sound output section 180 or the vibratorysection 190 make the notification (S520) of the fact that it is in theperiod of the target flying time T₂ using the sound or the vibration.

In the case in which neither of the second mode and the third mode hasbeen selected (N in S518), the processing section 120 does not performthe process in S520. Further, it is not in the period of the targetflying time T₂ (N in S516), the processing section 120 terminates theprocess without performing the process corresponding to S518 and S520.

FIG. 31 is a flowchart showing another example of a procedure of thenotification process (the process of S470 shown in FIG. 29) of thetarget grounding time and the target flying time. It is also possiblefor the processing section 120 to execute the notification process ofthe target grounding time and the target flying time under the procedureof, for example, the flowchart shown in FIG. 31.

Firstly, the processing section 120 determines whether or not the usertakes one step forward using the in-running output information obtainedin S430 shown in FIG. 29, and in the case in which the user has takenone step forward (Y in S600), the processing section 120 obtains (S602)the calculation value of the running pitch (the number of steps perminute) included in the in-running output information.

Then, the processing section 120 sets (S606) the target grounding timeT₁ as follows every time the processing section 120 obtains thecalculation value of the running pitch corresponding to a predeterminednumber of steps (or a predetermined time period) (Y in S604).

(target grounding time T ₁)=(reciprocal (average time of one step) ofthe average value of the running pitch corresponding to a predeterminednumber of steps (or a predetermined time period))×α(α<1)

Further, the processing section 120 sets (S608) the target flying timeT₂ as follows.

(target flying time T ₂)=(average time of one step)−T ₁

For example, assuming the average time of one step as 0.3 second, theprocessing section 120 sets the target grounding time T₁ and the targetflying time T₂ as follows using α=0.6, for example.

(target grounding time T ₁)=0.3×0.6=0.18 second

(target flying time T ₂)=0.3−0.18=0.12 second

It is also possible for the processing section 120 to set the targetgrounding time T₁ and the target flying time T₂ in S606 and S608 usingtable information defining the correspondence relationship between thetime of one step, and the target grounding time and the target flyingtime.

In the case in which the user fails to take one step forward (N inS600), the processing section 120 does not perform the processcorresponding to S600 through S608.

Thereafter, the processing section 120 performs the processcorresponding to S610 through S620 similarly to S510 through S520 shownin FIG. 30.

FIG. 32 is a flowchart showing another example of a procedure of thenotification process (the process of S470 shown in FIG. 29) of thetarget grounding time and the target flying time. It is also possiblefor the processing section 120 to execute the notification process ofthe target grounding time and the target flying time under the procedureof, for example, the flowchart shown in FIG. 32.

Firstly, the processing section 120 determines whether or not the GPSdata calculated by the GPS unit 110 has been updated, and in the case inwhich the GPS data has been updated (Y in S700), the processing section120 obtains (S702) the calculation value of the running speed includedin the GPS data. It is also possible for the processing section 120 to,for example, determine whether or not the user has taken one stepforward, and then obtain the calculation value of the running speedincluded in the in-running output information in the case in which theuser has taken one step forward instead of the process in the S700 andS702.

Then, the processing section 120 calculates (S706) the average value(the average running speed) of the running speed every time theprocessing section 120 obtains the calculation value of the runningspeed corresponding to a predetermined number of times (or apredetermined time period) (Y in S704). Then, the processing section 120calculates (S708) the target ground time T₁ and the target flying timeT₂ corresponding to the average running speed using the speed-targetvalue table 136. Specifically, in the case in which the target groundingtime and the target flying time at the speed equal to the averagerunning speed are defined in the speed-target value table 136, theprocessing section 120 uses the target grounding time and the targetflying time as T₁, T₂, and in the case in which the target groundingtime and the target flying time at the speed equal to the averagerunning speed are not defined, the processing section 120 calculates T₁,T₂ by linear interpolation or the like using, for example, the targetgrounding time and the target flying time at defined speeds around theaverage running speed.

It is also possible for the processing section 120 to calculate thetarget grounding time T₁ and the target flying time T₂ in S706 and S708using calculation formulas of the target grounding time and the targetflying time each using the running speed as a variable.

In the case in which the GPS data has not been updated (N in S700), theprocessing section 120 does not perform the process corresponding toS700 through S708.

Thereafter, the processing section 120 performs the processcorresponding to S710 through S720 similarly to S510 through S520 shownin FIG. 30.

FIG. 33 is a flowchart showing another example of a procedure of thenotification process (the process of S470 shown in FIG. 29) of thetarget grounding time and the target flying time. It is also possiblefor the processing section 120 to execute the notification process ofthe target grounding time and the target flying time under the procedureof, for example, the flowchart shown in FIG. 33.

Firstly, the processing section 120 determines whether or not the usertakes one step forward using the in-running output information obtainedin S430 shown in FIG. 29, and in the case in which the user has takenone step forward (Y in S800), the processing section 120 obtains (S802)the calculation value of the running pitch (the number of steps perminute) included in the in-running output information.

Then, the processing section 120 calculates (S806) the reciprocal (theaverage time of one step) of the average value of the running pitchevery time the processing section 120 obtains the calculation value ofthe running pitch corresponding to a predetermined number of steps (or apredetermined time period) (Y in S804). Then, the processing section 120sets (S808) the target flying time T₂ as follows using the targetgrounding time (the target grounding time input by the user) T₁ havingpreviously been set in S400 shown in FIG. 29.

(target flying time T ₂)=(average time of one step)−T ₁

In the case in which the user fails to take one step forward (N inS800), the processing section 120 does not perform the processcorresponding to S800 through S808.

Thereafter, the processing section 120 performs the processcorresponding to S810 through S820 similarly to S510 through S520 shownin FIG. 30.

2-5. Advantages

According to the second embodiment, since the notification device 3makes the notification of the timing of the target grounding time andthe timing of the target flying time during running of the user, it ispossible for the user to exercise running high in efficiency, runningdifficult to get tired, and so on.

Further, according to the second embodiment, since the notificationdevice 3 makes the notification of the timing of the target groundingtime and the timing of the target flying time using the sound or thevibration, it is possible for the user to recognize such timing duringrunning without relying on the visual sense.

Further, according to the second embodiment, since the notificationdevice 3 makes the notification of the timing of the target groundingtime and the notification of the timing of the target flying time usingrespective sounds or vibrations different in type from each other, it ispossible for the user to identify which one of the timing of thegrounding time to be the target and the timing of the flying time to bethe target is included in the notification.

Further, according to the second embodiment, it is possible for the userto select one of the mode of making the notification of only either oneof the timing of the target grounding time and the timing of the targetflying time, the mode of making the notification of both of the timingof the target grounding time and the timing of the target flying time,and the mode of making no notification of any of the timing of thetarget grounding time and the timing of the target flying time dependingon the taste of the user.

Further, according to the second embodiment, it is possible for theexercise analysis device 2 to accurately analyze the exercise of theuser using the measurement data of the inertial measurement unit 10capable of detecting fine movements of the regions of the user. Further,it is possible for the notification device 3 to make the notification ofthe more appropriate timing of the target grounding time and the moreappropriate timing of the target flying time in accordance with therunning state of the user by changing the setting of the targetgrounding time and the target flying time in accordance with theinformation of the grounding time, the running pitch, the running speed,and so on of the user analyzed by the exercise analysis device 2.Therefore, it is possible for the user to efficiently perform therunning exercise.

3. Third Embodiment 3-1. System Configuration

FIG. 34 is a diagram showing a configuration example of a portableelectronic apparatus 4 according to the third embodiment. The portableelectronic apparatus 4 is used while attached to the body portion or thewaist portion of the user 5 when running. The portable electronicapparatus 4 is provided with operation switches 81, a display 82, aspeaker 83, and so on, and at the same time incorporates an inertialmeasurement unit (IMU) 70 and a control device (not shown) having acentral processing unit (CPU) and a memory mounted.

The IMU 70 is a sensor unit having an acceleration sensor and a gyrosensor, and is a body motion detecting sensor for detecting the bodymotion of the user 5. The acceleration sensor detects the accelerationin a sensor coordinate system (a local coordinate system) as athree-dimensional Cartesian coordinate system (x, y, z) associated withthe sensor. The gyro sensor detects the angular velocity in a sensorcoordinate system as a three-dimensional Cartesian coordinate system (x,y, z) associated with the sensor.

It should be noted that although the explanation will be presentedassuming that the sensor coordinate system of the acceleration sensorand the sensor coordinate system of the gyro sensor are the same incoordinate axes as each other, in the case in which they are differentfrom each other, it is possible to transform one coordinate system intothe other coordinate system by performing coordinate transformationmatrix calculation. Regarding the coordinate transformation matrixcalculation, a known method can be applied.

The portable electronic apparatus 4 is capable of calculating theposition, the speed, the attitude, and so on of the apparatus byperforming the inertial navigation calculation using the measurementresult of the IMU 70. Further, the portable electronic apparatus 4 isalso an exercise support device, which determines whether or not therunning form of the user 5 is in an unstable state using the calculationresult of the inertial navigation calculation, and then makes apredetermined notification to the user 5 in case of the unstable state.As the notification to the user 5, there can be cited, for example,display of a notification screen on the display 82, and output of anotification sound from the speaker 83.

Here, there are defined a moving object coordinate system and anabsolute coordinate system. The moving object coordinate system is athree-dimensional Cartesian coordinate system (P, Q, R) associated withthe user 5, wherein the proceeding direction (way) of the user 5 isdefined as an R-axis positive direction, a vertically upward directionis defined as a Q-axis positive direction, and a right and leftdirection of the user 5 perpendicular to each of the R axis and the Qaxis is defined as P-axis direction. The absolute coordinate system is athree-dimensional coordinate system (X, Y, Z) determined as, forexample, an earth-centered earth-fixed (ECEF) coordinate system, whereinthe Y-axis positive direction corresponds to the vertically upwarddirection, and the X, Z axes are in the horizontal direction.

3-2. Principle (A) Lactate Accumulation State

In running, it is important to run stably in a good running form.However, it has been known that if the lactate accumulation occurs in amuscle due to continuous running, muscle weakness occurs due torestriction of energy metabolism, and thus, the running form becomesworse to destabilize the state.

Therefore, in the present embodiment, in the case in which the amplitudevalue of the vibration along the vertical direction of the user 5 inrunning has exceeded a threshold value, the portable electronicapparatus 4 determines that the running form is in an unstable state tomake a notification of the fact that the form is in the unstable state.Specifically, the portable electronic apparatus 4 determines whether therunning form is in the stable state or in the unstable state based onthe vertical vibration as one of the exercise indexes, and thenpresumptively determines the lactate accumulation state from thedetermination result. The vertical vibration is the amplitude (adeflection width) of the vibration in the vertical direction of theuser, and can be calculated from the change of the position in thevertical direction obtained by the inertial navigation calculation. Thesmaller the vertical amplitude is, the more stable the running form is,and in contrast, the larger the vertical amplitude is, the more unstablethe running form is.

(B) Running Form

As representative running forms of the running exercise, there can becited a long-stride running, which has a long stride length, and ashort-stride running, which has a relatively short stride length, but ishigh in running pitch instead. A difference between the two runningforms appears in the difference in cadence (pitch) and stride as theexercise indexes. Specifically, the short-stride running is higher incadence, but in contrast, the long-stride running is longer in stride.

(C) Recommendation of Running Form

Incidentally, it has been known that in the case of continuing anexercise in the same running form, the lactate accumulation occurs inthe muscle of a specific region corresponding to the running form.Therefore, in the case in which running is continued in the same runningform, and the lactate accumulation has occurred, the portable electronicapparatus 4 according to the present embodiment notifies the user of therecommendation of a running form different from the current running formin order to remove or relax the lactate having been accumulated.

3-3. Functional Configuration

FIG. 35 is a block diagram showing a functional configuration of theportable electronic apparatus 4. According to FIG. 35, the portableelectronic apparatus 4 is configured including the IMU 70, an operationsection 510, a display section 520, a sound output section 530, awireless communication section 540, a timepiece section 550, aprocessing section 600, and a storage section 700.

The IMU 70 has the acceleration sensor 71 and the gyro sensor 72. Theacceleration sensor 71 detects the acceleration in each of the axes (thex axis, the y axis, and the z axis) of the sensor coordinate system. Thegyro sensor 72 detects the angular velocity in each of the axes (the xaxis, the y axis, and the z axis) of the sensor coordinate system. Theacceleration (the sensor coordinate acceleration) detected by theacceleration sensor 71, and the angular velocity (the sensor coordinateangular velocity) detected by the gyro sensor 72 are stored in anaccumulative manner as sensor data 740 so as to be associated with themeasurement time.

The operation section 510 is implemented by an input device such as atouch panel or button switches, and outputs the operation signalcorresponding to the operation performed thereon to the processingsection 600. The operation switches 81 shown in FIG. 34 correspond tothe operation section 510.

The display section 520 is implemented by a display device such as aliquid crystal display (LCD), and performs a variety of types of displaybased on a display signal from the processing section 600. The display82 shown in FIG. 34 corresponds to the display section 520.

The sound output section 530 is implemented by a sound output devicesuch as a speaker, and performs a variety of types of sound output basedon a sound signal from the processing section 600. The speaker 83 shownin FIG. 34 corresponds to the sound output section 530.

The wireless communication section 540 is implemented by a wirelesscommunication device compatible with a wireless local area network(LAN), Bluetooth (registered trademark), or the like, and performscommunication with an external device.

The timepiece section 550 is an internal timepiece of the portableelectronic apparatus 4, formed of an oscillator circuit provided with aquartz crystal oscillator, and outputs a time signal such as the currenttime measured or elapsed time from a designated timing to the processingsection 600.

The processing section 600 is implemented by an arithmetic device suchas a CPU, and performs overall control of the portable electronicapparatus 4 based on programs and data stored in the storage section700, the operation signal from the operation section 510, and so on. Inthe present embodiment, the processing section 600 includes an inertialnavigation calculation section 610, an exercise index calculationsection 620, and an exercise support section 630.

The inertial navigation calculation section 610 performs an inertialnavigation calculation process using the detection result (the sensorcoordinate acceleration detected by the acceleration sensor 71, and thesensor coordinate angular velocity detected by the gyro sensor 72) ofthe IMU 70 to calculate a position (absolute coordinate position), aspeed (absolute coordinate speed), and an attitude angle (absolutecoordinate angle) in the absolute coordinate system. In the inertialnavigation calculation process, the coordinate transformation from thesensor coordinate system (x, y, z) to the moving object coordinatesystem (P, Q, R) and the absolute coordinate system (X, Y, Z) isperformed.

The detailed explanation will be presented. Referring to the fact thatthe force acting on the user when the user is in the rest state is thegravitational acceleration alone, and the fact that the force acting onthe user when the user starts moving is the acceleration in the movingdirection alone besides the gravitational acceleration, the initialattitude angle (the absolute coordinate attitude angle) of the IMU 70 inthe absolute coordinate system is obtained from the detection result ofthe IMU 70. Therefore, the moving object coordinate system (P, Q, R) inthe initial state can be defined, and the coordinate transformationmatrix from the sensor coordinate system to the moving object coordinatesystem can be obtained. Therefore, the inertial navigation calculationis implemented by occasionally calculating the moving velocity vector inthe moving object coordinate system from the detection result of the IMU70 after setting the movement start position of the user, and thenaccumulating the moving velocity vector in a replenishing manner. Bydesignating the movement start position on the absolute coordinatesystem, it results that the position and the speed during running in theabsolute coordinate system are obtained.

Further, since the direction of the user can occasionally be figured outby occasionally correcting the absolute coordinate attitude angle usingthe detection value of the gyro sensor 72, the moving object coordinatesystem is occasionally updated, and the absolute coordinate position,the absolute coordinate speed, and the absolute coordinate attitudeangle during the movement of the user are obtained as the calculationresult due to the inertial navigation.

However, the R-axis direction (see FIG. 34) of the moving objectcoordinate system during running varies in accordance with the directionof the body of the user 5 in running. Specifically, when running, sincethe user 5 steps out with the legs in the order of left to right, theuser 5 proceeds while twisting the body portion including the waistalternately clockwise and counterclockwise. In other words, since thedirection of the body portion swings from side to side, in the movingobject coordinate system defining the direction of the body portion asthe R-axis direction, it results that the yaw angle changesperiodically. As a result, if the moving velocity vectors obtained inthe moving object coordinate system are simply accumulated in areplenishing manner, the absolute coordinate position, the absolutecoordinate speed, and the absolute coordinate attitude angle cannotaccurately be obtained due to errors mixed therein.

Therefore, assuming the clockwise and counterclockwise rotations (twist)of the body portion as noise, a correction process for correcting theerrors in the calculation result by the inertial navigation method isperformed to correct the moving object coordinate system. Specifically,by applying the Kalman filter process setting the state vector X as thevariations (the differences between the previous values and the currentvalues; errors) of the respective values, namely the absolute velocityvector, the absolute coordinate attitude angle, the absolute coordinateposition, and the yaw angle, and setting the observation value Z as avariation of the yaw angle obtained from the detection value of the gyrosensor 72, the absolute coordinate speed, the absolute coordinateattitude angle, and the absolute coordinate position are corrected. As aresult of the correction process, the variation of the yaw angle can besuppressed, and the proceeding direction of the user 5, namely theR-axis direction of the moving object coordinate system, is corrected.In the present embodiment, it is assumed that the inertial navigationcalculation section 610 occasionally performs the calculation processobtained by incorporating the correction process using the Kalman filterin the inertial navigation calculation of the related art. The processhereinafter simply referred to as the “inertial navigation calculation”or the “inertial navigation calculation process” is the processincorporating the correction process described above.

The calculation result of the inertial navigation calculation by theinertial navigation calculation section 610 is stored as inertialnavigation calculation data 750. The inertial navigation calculationdata 750 includes the data of the speed, the position, and the attitudeangle at each time in the absolute coordinate system, and the data ofthe acceleration, the speed, and the position at each time in the movingobject coordinate system.

The exercise index calculation section 620 calculates a variety ofexercise indexes based on the inertial navigation calculation result bythe inertial navigation calculation section 610. Specifically, thevalues of the vertical vibration amplitude, the cadence, and the strideare calculated as the exercise indexes. The exercise index valuescalculated by the exercise index calculation section 620 are stored asexercise index data 760.

The exercise support section 630 includes a lactate accumulation statedetermination section 631, a current form estimation section 632, aduration calculation section 633, a recommended form determinationsection 634, and a notification control section 635, and determineswhether or not the running form of the user 5 is in the unstable state,and then performs exercise support of, for example, making apredetermined notification in case of the unstable state.

The lactate accumulation state determination section 631 determines theaccumulation state of the lactate in accordance with the exercise indexcalculated by the exercise index calculation section 620. Specifically,the lactate accumulation state determination section 631 refers to alactate accumulation state setting table 770 to determine theaccumulation level and the accumulation state of the lactatecorresponding to the vertical vibration amplitude as the exercise index.

FIG. 36 is a diagram showing a data configuration example of the lactateaccumulation state setting table 770. According to FIG. 36, the lactateaccumulation state setting table 770 stores the lactate accumulationlevel 772 and the lactate accumulation state 773 so as to be associatedwith the vertical vibration amplitude 771. In the drawing, it is definedthat the higher the vertical vibration amplitude 771 is, the higher thelactate accumulation level is, and that the lactate accumulation state773 is in a “high accumulation state” if the accumulation level is equalto or higher than a threshold value of “5.” A normal state as theaccumulation state 773 corresponds to the stable state of the runningform, and the high accumulation state corresponds to the unstable stateof the running form. It should be noted that although the thresholdvalue for determining the high accumulation state is set to “5” orhigher in the accumulation level, “4” or higher is also possible.Further, it is also possible to define the threshold value using thevalue of the vertical vibration amplitude.

The current form estimation section 632 estimates the current runningform of the user 5 in accordance with the exercise index calculated bythe exercise index calculation section 620. Specifically, the currentform estimation section 632 refers to a running form setting table 780to estimate the running form corresponding to the values of the cadenceand the stride as the exercise indexes.

FIG. 37 is a diagram showing a data configuration example of the runningform setting table 780. According to FIG. 37, the running form settingtable 780 stores the ranges of each of the cadence and the stride as theexercise indexes 782 so as to be associated with the respective items ofthe running form 781.

The current form estimation section 632 assumes the running form, whichhas the ranges defined in the running form setting table 780 andrespectively satisfied by the values of the cadence and the stride thuscalculated, as the current running form. It should be noted that in thecase in which there is no running form having the ranges both satisfiedby the respective values of the cadence and the stride thus calculated,the current running form estimated previously is directly assumed as thecurrent running form. The current running form estimated by the currentform estimation section 632 is stored as current form data 790.

The duration calculation section 633 calculates the duration of thecurrent running form estimated by the current form estimation section632. Specifically, it is assumed that the duration is counted using atimer system. The duration calculation section 633 compares the types ofthe latest running form thus estimated and the running form estimatedpreviously with each other, and continues to count the duration if thetypes are the same, or resets the duration if the types are differentfrom each other. The duration calculated by the duration calculationsection 633 is stored as current form duration data 800.

In the case in which the lactate accumulation state determinationsection 631 has determined the high accumulation state of the lactate,and the duration of the current running form calculated by the durationcalculation section 633 is equal to or longer than a predetermined timeperiod, the recommended form determination section 634 determines arunning form different from the current running form as the running formto be recommended. The running form to be recommended, which has beendetermined by the recommended form determination section 634 is storedas recommended form data 810.

The notification control section 635 controls a variety of types ofnotification related to the exercise support. Specifically, thenotification control section 635 notifies the user 5 of the running formto be recommended determined by the recommended form determinationsection 634, the lactate accumulation level and the lactate accumulationstate determined by the lactate accumulation state determination section631, and the current running form estimated by the current formestimation section 632 by making the display section 520 display theseitems, or by making these items be output from the sound output section530 as sounds.

The storage section 700 is implemented by a storage device such as a ROM(read only memory) or a RAM (random access memory), and stores programs,data, and so on for the processing section 600 to integrally control theportable electronic apparatus 4, and at the same time, is used as theworking area of the processing section 600, and temporarily stores theresult of the calculation performed by the processing section 600 with avariety of programs, the sensor data from the IMU 70, and so on. In thepresent embodiment, the storage section 700 stores an inertialnavigation calculation program 710, an exercise index calculationprogram 720, an exercise support program 730, the sensor data 740, theinertial navigation calculation data 750, the exercise index data 760,the lactate accumulation state setting table 770, the running formsetting table 780, the current form data 790, the current form durationdata 800, and the recommended form data 810.

The inertial navigation calculation program 710 is a program for makingthe processing section 600 function as the inertial navigationcalculation section 610, the exercise index calculation program 720 is aprogram for making the processing section 600 function as the exerciseindex calculation section 620, and the exercise support program 730 is aprogram for making the processing section 600 function as the exercisesupport section 630.

3-4. Process Flow

FIG. 38 is a flowchart for explaining the flow of the exercise supportprocess. This process is a process executed by the exercise supportsection 630 with the exercise support program 730, and the execution ofthis process is started in response to a support start instruction madeby the user 5 wearing the portable electronic apparatus 4 in the statein which the inertial navigation calculation has been performed by theinertial navigation calculation section 610 and thus the position, thespeed, the attitude, and so on of the portable electronic apparatus 4have already been calculated, and the calculation of the exerciseindexes has already been performed by the exercise index calculationsection 620.

Firstly, the lactate accumulation state determination section 631determines (step S1) the accumulation level and the accumulation stateof the lactate based on the vertical vibration amplitude as the exerciseindex. Then, the notification control section 635 makes a notification(step S3) of the accumulation level and the accumulation state of thelactate thus determined.

Further, the current form estimation section 632 estimates (step S5) thecurrent running form based on the cadence and the stride as the exerciseindexes. Subsequently, if the current running form thus estimated isdifferent from the previous running form (NO in the step S7), theduration calculation section 633 clears (step S9) the duration, and ifthe running forms are the same (YES in the step S7), the durationcalculation section 633 continues (step S11) to count the duration ofthe same running form. Then, the notification control section 635 makesa notification (step S13) of the current running form thus estimated andthe duration.

Subsequently, if the lactate accumulation state is in the highaccumulation state (YES in the step S15), and the duration of thecurrent running form is equal to or longer than a predetermined timeperiod (YES in the step S17), the recommended form determination section634 determines (step S19) a running form different from the currentrunning form as the recommended running form. Then, the notificationcontrol section 635 makes a notification (step S21) of the recommendedrunning form thus determined.

Subsequently, the exercise support section 630 determines whether or notthe support stop instruction has been made. If the support stopinstruction has not been made (NO in the step S23), the process returnsto the step S1. If the support stop instruction has been made (YES inthe step S23), the process is terminated.

3-5. Functions and Advantages

As described above, according to the portable electronic apparatus 4 ofthe third embodiment, it is possible to determine whether or not therunning form is in the unstable state using the detection values of theIMU 70, and to make a predetermined notification in the case in whichthe unstable state has been determined. Further, if the lactateaccumulation occurs in a certain region, the running form becomesunstable due to the muscle weakness in that region, and therefore, it ispossible to presumptively determine the fact that the lactateaccumulation has occurred based on the fact that the running form of theuser has become in the unstable state.

Further, it is possible to estimate the running form of the user 5 usingthe detection values of the IMU 70, and then recommend a different formin the case in which the running form is in an unstable state, and theduration of the same running form is equal to or longer than apredetermined time period. Thus, by recommending a different runningform in the case in which the running in the same running form iscontinued, it becomes possible to, for example, remove the lactateaccumulated in the muscle of a specific region.

4. Modified Examples

The invention is not limited to the embodiments described above, but canbe implemented with various modifications within the scope or the spiritof the invention. Hereinafter, some modified examples will be explained.It should be noted that the same constituents as in any of theembodiments described above are denoted with the same reference symbols,and the duplicated explanation will be omitted.

4-1. Sensor

Although in each of the embodiments described above, the accelerationsensor 12 and the angular velocity sensor 14 (or the acceleration sensor71 and the gyro sensor 72) are integrated with each other as theinertial measurement unit 10 (or the IMU 70) and are incorporated in theexercise analysis device 2 (or the portable electronic apparatus 4), theacceleration sensor 12 and the angular velocity sensor 14 (or theacceleration sensor 71 and the gyro sensor 72) are not required to beintegrated with each other. Alternatively, the acceleration sensor 12and the angular velocity sensor 14 (or the acceleration sensor 71 andthe gyro sensor 72) can also be attached directly to the user withoutbeing incorporated in the exercise analysis device 2 (or the portableelectronic apparatus 4). In the first embodiment and the secondembodiment, in any cases, it is sufficient to, for example, set eitherone of the sensor coordinate systems to the b-frame of the embodimentsdescribed above, transform the other of the sensor coordinate systemsinto the b-frame, and then apply each of the embodiments.

Further, although in each of the embodiments described above, theexplanation is presented assuming that the region of the user to whichthe sensor (the exercise analysis device 2 (IMU 10) or the portableelectronic apparatus 4 (IMU 70)) is attached is the waist (the waistportion) or the body portion, it is also possible to assume that thesensor is attached to other regions than the waist (the waist portion)or the body portion. The preferable attachment region is the body trunk(the region other than the four limbs) of the user. However, it is alsopossible to assume that the sensor is attached to other regions than thearms, for example, the head or the legs, besides the body trunk.Further, the number of the sensors is not limited to one, but it is alsopossible to assume that an additional sensor is attached to a differentregion of the body. It is also possible to attach the sensors to, forexample, the waist and the legs, or the waist and the arms.

4-2. Inertial Navigation Calculation

Although in the first embodiment and the second embodiment describedabove, the integral processing section 220 calculates the speed, theposition, the attitude angle, and the distance in the e-frame, and thenthe coordinate transformation section 250 performs the coordinatetransformation on the speed, the position, the attitude angle, and thedistance in the e-frame to generate the speed, the position, theattitude angle, and the distance in the m-frame, it is also possible forthe integral processing section 220 to calculate the speed, theposition, the attitude angle, and the distance in the m-frame. In thiscase, since it is sufficient for the exercise analysis section 24 toperform the exercise analysis process using the speed, the position, theattitude angle, and the distance in the m-frame calculated by theintegral processing section 220, the coordinate transformation of thespeed, the position, the attitude angle, and the distance by thecoordinate transformation section 250 becomes unnecessary. Further, itis also possible for the error estimation section 230 to perform theerror estimation by the extended Kalman filter using the speed, theposition, and the attitude angle in the m-frame.

Further, although in the first embodiment and the second embodimentdescribed above, the inertial navigation calculation section 22 performsa part of the inertial navigation calculation using the signals from theGPS satellites, it is also possible for the inertial navigationcalculation section 22 to use signals from positioning satellites ofGlobal Navigation Satellite System (GNSS) other than the GPS, or signalsfrom positioning satellites other than GNSS. It is also possible to useone or more of the satellite positioning systems such as Wide AreaAugmentation System (WAAS), Quasi Zenith Satellite System (QZSS), GLObalNAvigation Satellite System (GLONASS), GALILEO, and BeiDou NavigationSatellite System (BeiDou). Further, it is also possible to use an indoorpositioning system (Indoor MEssaging System (IMES)) or the like.

Further, although in the first embodiment and the second embodimentdescribed above, the running detection section 242 detects the runningperiod at the timing when the acceleration (the z-axis acceleration) ofthe vertical motion of the user takes a local maximum value equal to orhigher than a threshold value, the invention is not limited to thisexample, but it is also possible to detect the running period at thetiming when, for example, the acceleration (the z-axis acceleration) ofthe vertical motion changes from a positive value to a negative value(or the timing when the z-axis acceleration changes from a negativevalue to a positive value). Alternatively, it is also possible for therunning detection section 242 to calculate speed (z-axis speed) of thevertical motion by integrating the acceleration (the z-axisacceleration) of the vertical motion, and then detect the running periodusing the speed (the z-axis speed) of the vertical motion thuscalculated. On this occasion, it is also possible for the runningdetection section 242 to detect the running period at the timing when,for example, the speed traverses a threshold value in the vicinity ofthe center value between the local maximum value and the local minimumvalue due to an increase in the value or a decrease in the value.Further, it is also possible for the running detection section 242 to,for example, calculate synthesized acceleration of those in the x-axis,y-axis, and z-axis directions, and detect the running period using thesynthesized acceleration thus calculated. On this occasion, it is alsopossible for the running detection section 242 to detect the runningperiod at the timing when, for example, the synthesized accelerationtraverses a threshold value in the vicinity of the center value betweenthe local maximum value and the local minimum value due to an increasein the value or a decrease in the value.

Further, although in the first embodiment and the second embodimentdescribed above, the error estimation section 230 uses the velocity, theattitude angle, the acceleration, the angular velocity, and the positionas the state variables to estimate the errors of these values using theextended Kalman filter, it is also possible to estimate the errorsthereof using some of the velocity, the attitude angle, theacceleration, the angular velocity, and the position as the statevariables. Alternatively, it is also possible for the error estimationsection 230 to use other values (e.g., a moving distance) than thevelocity, the attitude angle, the acceleration, the angular velocity,and the position as the state variables to estimate the errors thereof.Similarly, in the third embodiment described above, it is also possibleto use some of the variations in the respective values of the absolutevelocity vector, the absolute coordinate attitude angle, the absolutecoordinate position, and the yaw angle as the elements of the statevector X, or it is also possible to use other values (e.g., theacceleration vector, the angular velocity vector, or the moving distancevector) than these values as the elements of the state vector X.

Further, although in the first embodiment and the second embodimentdescribed above, the extended Kalman filter is used for the estimationof the errors by the error estimation section 230, it is also possibleto replace the extended Kalman filter with other estimation device suchas a particle filter or an H infinity filter. Similarly, in the thirdembodiment described above, it is possible to replace the Kalman filterprocess described above with a process using other estimation devicesuch as a particle filter or an H infinity filter.

4-3. Exercise Analysis Process

In each of the embodiments described above, it is also possible for theexercise analysis device 2 or the portable electronic apparatus 4 togenerate the exercise analysis information (the exercise indexes) usingbiological information. As the biological information, there can becited, for example, skin temperature, central temperature, oxygenconsumption, an inter-beat variation, a heart rate, a pulse rate, arespiration rate, heat flow, a galvanic skin response, electromyogram(EMG), electroencephalogram (EEG), electro-oculogram (EOG), bloodpressure, and an activity. It is also possible for the exercise analysisdevice 2 or the portable electronic apparatus 4 to be provided with adevice for measuring the biological information, or to receive thebiological information measured by a measurement device. For example, itis also possible that the user runs with a wristwatch-type pulsimeterattached, or with a heart-rate sensor wound around the chest with abelt, and the exercise analysis device 2 or the portable electronicapparatus 4 calculates the heart rate of the user during running usingthe measurement value of the pulsimeter or the heart-rate sensor.

Further, although in the first embodiment and the second embodiment, theexercise indexes included in the exercise analysis information are eachan index related to a technical ability of the user, the exerciseanalysis information can also include the exercise indexes related toendurance capacity. For example, the exercise analysis information canalso include the HRR (Heart Rate Reserved) calculated as follows as theexercise index related to the endurance capacity.

(heart rate reserved)=((heart rate)−(heart rate at rest))/((maximumheart rate)−(heart rate at rest))×100

For example, it is also possible that each athlete operates thenotification device 3 to input the heart rate, the maximum heart rate,and the heart rate at rest every time running is performed, or runs withthe heart rate meter attached, and the exercise analysis device 2obtains the values of the heart rate, the maximum heart rate, and theheart rate at rest from the notification device 3 or the heart ratemeter, and then calculates the value of the heart rate reserved (HRR).

Further, although in each of the embodiments described above, theexercise analysis in running of a human is intended, the invention isnot limited to this configuration, but can similarly be applied to theexercise analysis in walking and running of a moving object such as ananimal or a robot. Further, besides running, the invention can also beapplied to a wide variety of exercises such as mountaineering, trailrunning, skiing (including cross-country skiing and ski jumping),snowboarding, swimming, bike riding, skating, golf, tennis, baseball, orrehabilitation. In the case in which the invention is applied to skiingas an example, it is also possible to determine, for example, whether ornot curving can smoothly achieved, or whether or not the ski plates failto be aligned, based on the variation in the vertical acceleration whenpressurizing the ski plates, or it is also possible to determine thedifference between the right foot and the left foot, or the ability ofskiing based on the trajectory of the change in the verticalacceleration when pressurizing or unweighting the ski plates.Alternatively, it is also possible to analyze how approximate thetrajectory of the change in the angular velocity in the yaw direction isto a sine wave to thereby determine whether or not the user successfullyrides the ski plates, or it is also possible to analyze how approximatethe trajectory of the change in the angular velocity in the rolldirection is to a sine wave to thereby determine whether or not thesmooth skiing is achieved.

4-4. Notification Process

Although in the first embodiment described above, the notificationdevice 3 normalizes the difference between the value of the exerciseindex and the target value into a value in a range between 0 and 1 whilesetting the difference to 0 if the difference is equal to or lower than0, and setting the difference to 1 if the difference is equal to orhigher than the maximum value set in advance with respect to each of theexercise indexes, the normalization method is not limited to thisexample. For example, it is also possible for the notification device 3to normalize the difference between the value of the exercise index andthe target value into a value in a range between 0 and 1 while settingthe difference to 0 if the difference is equal to or higher than themaximum value set in advance, and setting the difference to 1 if thedifference is equal to or lower than 0 with respect to each of theexercise indexes. In this case, it is sufficient for the notificationdevice 3 to assume that the closer the normalized difference value ofthe exercise index is to 1, the better, and the closer the normalizeddifference value of the exercise index is to 0, the worse, and performthe subsequent process. Further, for example, it is also possible forthe notification device 3 to normalize the difference into a numericalrange different from the range between 0 and 1.

Further, although in the first embodiment described above, thenotification device 3 notifies the user of the exercise indexes betteror worse than the respective target values using the sounds or thevibrations different from each other, it is also possible that a lightemitting section is provided to the notification device 3, and thenotification device 3 makes the notifications of the respective exerciseindexes better or worse than the respective target values using lightsignals from the light emitting section different in type from eachother (e.g., light signals different in color or blink pattern from eachother).

Further, although in the first embodiment described above, thenotification device 3 performs the calculation of the difference betweenthe values of the exercise indexes and the respective target values, thenormalization, the selection and the notification of the exerciseindexes, it is also possible that the exercise analysis device 2performs the calculation of the difference, and the notification device3 receives the calculation value of the difference, and then performsthe normalization, and the selection and the notification of theexercise indexes. Alternatively, it is also possible that the exerciseanalysis device 2 performs the calculation of the difference and thenormalization, and the notification device 3 receives the normalizedcalculation value of the difference, and then performs the selection andthe notification of the exercise indexes. Alternatively, it is alsopossible that the exercise analysis device 2 performs the calculation ofthe difference, the normalization, and the selection of the exerciseindexes, and the notification device 3 receives the information of theselected exercise indexes, and then performs the notification. In eitherof the cases, the exercise analysis system 1 including the exerciseanalysis device 2 and the notification device 3 functions as thenotification device. Alternatively, it is also possible for the exerciseanalysis device 2 to perform the calculation of the difference, thenormalization, the selection and the notification of the exerciseindexes to function as the notification device.

Further, although in the second embodiment described above, thenotification device 3 notifies the user of the target grounding time andthe target flying time using the sounds or the vibrations, it is alsopossible that the notification device 3 is provided with a lightemitting section, and the notification device 3 makes the notificationsof the target grounding time and the target flying time using the lightfrom the light emitting section. In the case in which the notificationdevice 3 makes both of the notifications of the target grounding timeand the target flying time using the light, it is also possible toarrange that the two types of light for making the respectivenotifications of the target grounding time and the target flying timeare different in color or blink pattern from each other.

Further, although in the second embodiment described above, thenotification device 3 performs the setting (calculation) of the targetgrounding time and the target flying time, the selection of thenotification mode, and the notification using the sounds or thevibrations, it is also possible that the exercise analysis device 2performs the setting (calculation) of the target grounding time and thetarget flying time, and the notification device 3 receives the settingvalues of the target grounding time and the target flying time, and thenperforms the selection of the notification mode, and the notificationusing the sounds or the vibrations. Alternatively, it is also possiblethat the exercise analysis device 2 performs the setting (calculation)of the target grounding time and the target flying time, and theselection of the notification mode, and the notification device 3receives the setting values of the target grounding time and the targetflying time, and the information of the notification mode thus selected,and then makes the notification using the sounds or the vibrations. Ineither of the cases, the exercise analysis system 1 including theexercise analysis device 2 and the notification device 3 functions asthe notification device. Alternatively, it is also possible for theexercise analysis device 2 to perform the setting (calculation) of thetarget grounding time and the target flying time, selection of thenotification mode, and the notification using the sounds or thevibrations to function as the notification device.

Further, although in the second embodiment described above, thenotification device 3 notifies the user of the information related tothe exercise indexes worse than the respective target values, it ispossible to notify the user of the information related to the exerciseindexes better than the respective target values.

Further, although in the first embodiment and the second embodimentdescribed above, the notification device 3 is the wristwatch-typedevice, the invention is not limited to this configuration, but it isalso possible to adopt a portable device (e.g., a head mount display(HMD) or a device (which can also be the exercise analysis device 2)attached to the waist of the user) other than the wristwatch-typeattached to the user. In the case in which the notification device 3 isthe head mount display (HMD), since the display section thereof issufficiently larger and therefore higher in visibility than the displaysection of the notification device 3 having the wristwatch shape, and istherefore difficult to be an obstacle if watched by the user, it is alsopossible to, for example, display the information of the running processso far of the user, or to display a picture in which a virtual runnercreated based on a record time (e.g., a record time set by the user, thepersonal record, the record of a personality, or the world record) isrunning.

4-5. Running Form

Although in the third embodiment described above, it is assumed that therunning form includes the two types, namely the long-stride running andthe short-stride running, it is possible to replace them with othertypes, or to include three or more types. Further, although the exerciseindexes used for determining the running form are assumed to be thecadence and the stride, other exercise indexes can also be adopted.Further, it is possible to adopt other exercise indexes in which thefeature of the running form appears in accordance with the type of therunning form.

4-6. Man-Machine Interface Function

It is also possible to arrange that there is provided a device havingthe man-machine interface function of the portable electronic apparatus4 explained as the third embodiment described above. Specifically, forexample, a terminal device having the function corresponding to thedisplay section 520 is implemented as a wristwatch-type device, and ismade to be connected to the portable electronic apparatus 4 via wirelesscommunication (see FIG. 34). Then, it is also possible to arrange thatthe terminal device is made to occasionally display the support resultby the exercise support section 630. Further, the terminal device canalso be provided with the functions corresponding not only to thedisplay section 520, but also to the operation section 510 and the soundoutput section 530.

4-7. Other Issues

For example, it is also possible for the exercise analysis device 2 andthe notification device 3 to calculate the score of the user based onthe input information or the analysis information to notify the user ofthe score during running or after running. For example, it is sufficientto section the numerical value of each of the exercise indexes into aplurality of levels (e.g., 5 levels or 10 levels), and to assign pointsto the respective levels in advance. Further, for example, it is alsopossible for the exercise analysis device 2 or the notification device 3to provide the points in accordance with the types of the number of theexercise indexes high in score, or to calculate the total score, andthen display the result.

Further, although in the first embodiment and the second embodimentdescribed above, the exercise analysis device 2 is provided with the GPSunit 50, the GPS unit 50 is not required to be provided. For example, itis also possible that the processing section 120 of the notificationdevice 3 receives the GPS data from the GPS unit 110, and then transmitsthe GPS data to the exercise analysis device 2 via the communicationsection 140, and the processing section 20 of the exercise analysisdevice 2 receives the GPS data via the communication section 40, andthen adds the GPS data thus received to the GPS data table 320.

Further, although in the first embodiment and the second embodimentdescribed above, the exercise analysis device 2 and the notificationdevice 3 are separated from each other, it is also possible to adopt anexercise analysis device (a notification device) having the exerciseanalysis device 2 and the notification device 3 integrated with eachother.

Further, although in the first embodiment and the second embodimentdescribed above, the exercise analysis device 2 is attached to the user,the invention is not limited to this configuration, but it is alsopossible that the inertial measurement unit (the inertial sensor) andthe GPS unit are attached to the body or the like of the user, theinertial measurement unit (the inertial sensor) and the GPS unit eachtransmit the detection result to the portable information device such asa smartphone, and the portable information device analyzes the exerciseof the user using the detection results received.

The embodiments and the modified examples described above areillustrative only, and the invention is not limited to the embodimentsand the modified examples. For example, it is also possible toarbitrarily combine any of the embodiments and the modified examplesdescribed above with each other.

The invention includes configurations (e.g., configurations having thesame function, the same way, and the same result, or configurationshaving the same object and the same advantage) substantially the same asthe configuration described as the embodiment of the invention. Further,the invention includes configurations obtained by replacing anon-essential part of the configuration described as the embodiment ofthe invention. Further, the invention includes configurations exertingthe same functions and advantages and configurations capable ofachieving the same object as the configuration described as theembodiment of the invention. Further, the invention includesconfigurations obtained by adding known technologies to theconfiguration described as one of the embodiments of the invention.

The entire disclosure of Japanese Patent Application No. 2014-157203,filed Jul. 31, 2014 and No. 2014-157207, filed Jul. 31, 2014 and No.2014-156118, filed Jul. 31, 2014 and No. 2015-115211, filed Jun. 5, 2015are expressly incorporated by reference herein.

What is claimed is:
 1. A notification device comprising: a differencecalculation section adapted to calculate differences between indexvalues of a plurality of indexes, which are calculated by analyzing anexercise of a user using an inertial sensor, and are related to anathletic ability of the user, and target values set to the respectiveindexes; an index selection section adapted to select some of theindexes based on the differences with respect to the respective indexes;and an output section adapted to output the some of the indexesselected.
 2. The notification device according to claim 1, wherein theindex selection section selects the indexes larger in the differencethan other indexes as the some of the indexes.
 3. The notificationdevice according to claim 1, wherein the index selection section selectsthe indexes smaller in the difference than other indexes as the some ofthe indexes.
 4. The notification device according to claim 1, furthercomprising: a normalization section adapted to normalize the differenceswith respect to the respective indexes, wherein the index selectionsection selects the some of the indexes based on the differencesnormalized with respect to the respective indexes.
 5. The notificationdevice according to claim 4, wherein the index selection section selectsa predetermined number of the indexes having the largest differencesnormalized.
 6. The notification device according to claim 5, wherein theindex selection section selects none of the indexes in a case in whichall of the differences normalized are smaller than a threshold value. 7.The notification device according to claim 4, wherein the indexselection section selects a predetermined number of the indexes havingthe smallest differences normalized.
 8. The notification deviceaccording to claim 7, wherein the index selection section selects noneof the indexes in a case in which all of the differences normalized arelarger than a threshold value.
 9. The notification device according toclaim 1, further comprising: a target value setting section adapted toset the target values corresponding to a speed of the user with respectto the respective indexes using correspondence information between thespeed of the user and the respective target values of the indexes. 10.The notification device according to claim 1, wherein the indexes are atleast one of landing-below-center of gravity, propulsive efficiency,flow of leg, a running pitch, and a landing impact.
 11. The notificationdevice according to claim 1, wherein the output section outputs the someof the indexes selected as one of sounds different from each other andvibrations different from each other.
 12. An exercise analysis systemcomprising: the notification device according to claim 1; and anexercise analysis device adapted to analyze the exercise of the userusing the detection result of the inertial sensor to calculate the indexvalues of the indexes.
 13. A notification method comprising: calculatedifferences between values, which are calculated by analyzing anexercise of a user using a detection result of an inertial sensor, andrespective target values with respect to a plurality of indexes relatedto an athletic ability of the user; selecting some of the indexes basedon the differences with respect to the respective indexes; and making anotification of the some of the indexes selected.
 14. A notificationprogram adapted to make a computer execute a process comprising:calculate differences between values, which are calculated by analyzingan exercise of a user using a detection result of an inertial sensor,and respective target values with respect to a plurality of indexesrelated to an athletic ability of the user; selecting some of theindexes based on the differences with respect to the respective indexes;and performing a control of making a notification of the some of theindexes selected.
 15. A notification device comprising: an outputsection adapted to periodically make a notification of at least one of afirst period corresponding to a target value of a grounding time of afoot of a user, and a second period corresponding to a target value of aflying time of a foot of the user during an exercise of the user. 16.The notification device according to claim 15, wherein the outputsection makes the notification using at least one of a sound and avibration.
 17. The notification device according to claim 15, whereinthe output section makes the notification of the first period using afirst notification medium, and makes the notification of the secondperiod using a second notification medium different from the firstnotification medium.
 18. The notification device according to claim 15,further comprising: a notification mode selection section capable ofselecting one of a first mode of making the notification of the firstperiod without making the notification of the second period and a secondmode of making the notification of the second period without making thenotification of the first period.
 19. The notification device accordingto claim 18, wherein the notification mode selection section is capableof selecting a third mode of making both of the notification of thefirst period and the notification of the second period.
 20. Thenotification device according to claim 15, further comprising: a targetvalue setting section adapted to set the target value of the groundingtime and the target value of the flying time based on predeterminedinformation in the exercise of the user.
 21. The notification deviceaccording to claim 20, wherein the predetermined information isinformation of the grounding time.
 22. The notification device accordingto claim 20, wherein the predetermined information is information of arunning pitch.
 23. The notification device according to claim 20,wherein the predetermined information is information of running speed.24. The notification device according to claim 20, wherein thepredetermined information is information calculated using a detectionresult of an inertial sensor.
 25. An exercise analysis systemcomprising: the notification device according to claim 24; and anexercise analysis device adapted to calculate the predeterminedinformation using the detection result of the inertial sensor.
 26. Anotification method comprising: periodically making a notification of atleast one of a first period corresponding to a target value of agrounding time of a foot of a user, and a second period corresponding toa target value of a flying time of a foot of the user during an exerciseof the user.
 27. A notification program adapted to make a computerexecute a process comprising: periodically making a notification of atleast one of a first period corresponding to a target value of agrounding time of a foot of a user, and a second period corresponding toa target value of a flying time of a foot of the user during an exerciseof the user.
 28. An exercise support method comprising: making anotification of a fact that a form of running is in an unstable state ina case in which an amplitude value of a vibration along a verticaldirection of a user in running has exceeded a threshold value.
 29. Theexercise support method according to claim 28, further comprising:estimating the form of the user using the amplitude value of thevibration, wherein the notification includes a recommendation of a formdifferent from the form estimated in the making a notification in a caseof the unstable state.
 30. The exercise support method according toclaim 29, further comprising: calculating duration of the form estimatedin the making a notification, wherein the recommendation is made in acase in which the unstable state has been determined, and the durationfulfills a predetermined condition.
 31. An exercise support devicecomprising: a determination section adapted to determine that a form ofrunning is in an unstable state in a case in which an amplitude value ofa vibration along a vertical direction of a user in running has exceededa threshold value, wherein a predetermined notification is made in acase in which the unstable state has been determined.